Control of nonholonomic wheeled mobile robots via i-PID controller
作者： Yingchong Ma , Gang Zheng , Wilfrid Perruquetti , Zhaopeng Qiu
DOI: 10.1109/IROS.2013.6696990
关键词:
摘要: An intelligent PID controller (i-PID controller) is applied to control the nonholonomic mobile robot with measurement disturbance. Because of particularity systems, this paper propose use a switching parameter α in i-PID controller. We show simulations that proposed method able robots disturbance, and it can also stabilize at static point.
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