International Journal of Fuzzy Logic and Intelligent Systems

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Path Following Control of Mobile Robot Using Lyapunov Techniques and PID Cntroller

  • Jin, Tae-Seok (Dept. of Mechatronics Engineering, Dongseo University) ;
  • Tack, Han-Ho (Dept. of Electronics Engineering, Jinju National University)
  • Received : 2011.01.24
  • Accepted : 2011.03.22
  • Published : 2011.03.25
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Abstract

Path following of the mobile robot is one research hot for the mobile robot navigation. For the control system of the wheeled mobile robot(WMR) being in nonhonolomic system and the complex relations among the control parameters, it is difficult to solve the problem based on traditional mathematics model. In this paper, we presents a simple and effective way of implementing an adaptive following controller based on the PID for mobile robot path following. The method uses a non-linear model of mobile robot kinematics and thus allows an accurate prediction of the future trajectories. The proposed controller has a parallel structure that consists of PID controller with a fixed gain. The control law is constructed on the basis of Lyapunov stability theory. Computer simulation for a differentially driven nonholonomic mobile robot is carried out in the velocity and orientation tracking control of the nonholonomic WMR. The simulation results of wheel type mobile robot platform are given to show the effectiveness of the proposed algorithm.

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References

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