A Smooth Time–Varying PID Controller for Nonholonomic Mobile Robots Subject to Matched Disturbances

In this paper we present the design of a robust controller for nonholonomic differential wheeled mobile robot moving on the plane and subject to constant unknown disturbances. The proposed controller is smooth, time-variant and has a (simple) PID-like structure. Also, as analytically proved, it achi...

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Bibliographic Details
Published inJournal of intelligent & robotic systems Vol. 105; no. 1; p. 13
Main Authors Romero, Jose Guadalupe, Nuño, Emmanuel, Restrepo, Esteban, Cisneros, Rafael, Morales, Marco
Format Journal Article
LanguageEnglish
Published Dordrecht Springer Netherlands 01.05.2022
Springer Nature B.V
Springer Verlag
Subjects
Artificial Intelligence
Computer science
Control
Control systems design
Controllers
Design
Disturbances
Electrical Engineering
Engineering
Engineering Sciences
Mechanical Engineering
Mechatronics
Perturbation
Physics
Proportional integral derivative
Regular Paper
Robotics
Robots
Robust control
Nonholonomic robots
PID controller
Robustness
Global stabilization
ROBUSTNESS
PID CONTROLLER
GLOBAL STABILIZATION
NONHOLONOMIC ROBOTS
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Summary:In this paper we present the design of a robust controller for nonholonomic differential wheeled mobile robot moving on the plane and subject to constant unknown disturbances. The proposed controller is smooth, time-variant and has a (simple) PID-like structure. Also, as analytically proved, it achieves global asymptotic convergence to zero of the position and orientation (regulation) errors despite the perturbations. Realistic simulations in the Gazebo-ROS environment validate the effectiveness of our approach.
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
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ISSN:0921-0296
1573-0409
DOI:10.1007/s10846-022-01622-3