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Mobile robot path tracking using a robust PID controller
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DOI：10.1016/S0967-0661(01)00066-1.png)
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Abstract
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This paper presents a simple and effective solution for the path tracking problem of a mobile robot using a PID controller. The proposed method uses a simple linearized model of the mobile robot composed of an integrator and a delay. The synthesis procedure is simple and allows the PID controller to be tuned considering the nominal performance and the robustness as control specifications. Experimental results demonstrate the good performance and robustness of the proposed controller. (C) 2001 Published by Elsevier Science Ltd.
Keywords:
PID
robust control
time delay
mobile robots
path tracking
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