کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
4635604 1340713 2007 9 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Development of a proportional control method for a mobile robot
موضوعات مرتبط
مهندسی و علوم پایه ریاضیات ریاضیات کاربردی
پیش نمایش صفحه اول مقاله
Development of a proportional control method for a mobile robot
چکیده انگلیسی

Proportional-integral-derivative (PID) control is a control strategy that has been successfully used over many years. Simplicity, robustness, a wide range of applicability and near-optimal performance are some of the reasons that have made PID control popular in the academic institutes and industries. This paper presents a new development of the proportional control method for stable tracking control system for a mobile robot. Proportional control parameters for each wheel are decided by confirmation of the minimal root mean square error (RMSE) of deviation in wheel rotations for each wheel. The accuracy performance was compared with the predictive nonlinear control method and the predictive proportional nonlinear control method. The experiment results demonstrated the feasibility and advantages of the proportional control on a trajectory tracking of a mobile robot.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Applied Mathematics and Computation - Volume 186, Issue 1, 1 March 2007, Pages 74–82
نویسندگان
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