Zigler-Nicols PID Tuning Method for Position Control of a Mobile Robot

Abstract:

This paper presents the implementation and the tuning of PID controller for a mobile platform with differential steering. It presents a mobile platform built in the Department of Industrial Machinery & Equipment, of the Engineering Faculty of Sibiu for an European contest. In a first phase, a brief introduction to PID controller is made, followed by a description of the various robot's components and traction principles underlying locomotion of mobile platforms. At the end the paper contains several principles of tuning the PID controller for the mobile robot.

• Periodical: Applied Mechanics and Materials (Volume 841)
• Pages: 221-226
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.841.221
• Online since: June 2016
• Authors: Mihai Crenganis*, Radu Eugen Breaz, Gabriel Racz, Octavian Bologa
• Keywords: Mobile Robot, PID Tuning, Position Control, Zigler-Nicols

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