Proportional control for trajectory tracking of a wheeled mobile robot
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IEEE Conference Publications
2014
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my.unimap-337212017-11-29T05:06:45Z Proportional control for trajectory tracking of a wheeled mobile robot Hazry, Desa, Assoc. Prof. Dr. Masanori, Sugisaka hazry@unimap.edu.my msugi@cc.oita-u.ac.jp Proportional controller RMSE Link to publisher's homepage at http://ieeexplore.ieee.org/ The majority of the regulatory loops in the process industry use the proportional-integral-derivative (PID) controllers. PID controllers are widely used and there are various types of processes that regulate the PID controllers, because of this most extensive research have focused on analyzing the closed-loop stability, performance and robustness. This paper presents a new development for proportional parameter estimation in mobile robot for stable tracking control system. Proportional control parameters are decided by determining the minimal root mean square error (RMSE) of deviation in wheel rotations for the right wheel and the left wheel in the real environment. The selected minimal RMSE are use in the developed proportional controller which consists of two different system that are individually control the two D.C motors to generate the PWS (power wheel steering) of the mobile robot. The two system works concurrently with different value of proportional control parameters to perform stable movement in trajectory straight line tracking. 2014-04-16T02:33:12Z 2014-04-16T02:33:12Z 2006 Working Paper SICE-ICASE International Joint Conference, 2006, pages 5283-5285 89-950038-4-7 (Print) http://dspace.unimap.edu.my:80/dspace/handle/123456789/33721 http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4108724&tag=1 http://dx.doi.org/10.1109/SICE.2006.315311 en IEEE Conference Publications |
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| language |
English |
| topic |
Proportional controller RMSE |
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Proportional controller RMSE Hazry, Desa, Assoc. Prof. Dr. Masanori, Sugisaka Proportional control for trajectory tracking of a wheeled mobile robot |
| description |
Link to publisher's homepage at http://ieeexplore.ieee.org/ |
| author2 |
hazry@unimap.edu.my |
| author_facet |
hazry@unimap.edu.my Hazry, Desa, Assoc. Prof. Dr. Masanori, Sugisaka |
| format |
Working Paper |
| author |
Hazry, Desa, Assoc. Prof. Dr. Masanori, Sugisaka |
| author_sort |
Hazry, Desa, Assoc. Prof. Dr. |
| title |
Proportional control for trajectory tracking of a wheeled mobile robot |
| title_short |
Proportional control for trajectory tracking of a wheeled mobile robot |
| title_full |
Proportional control for trajectory tracking of a wheeled mobile robot |
| title_fullStr |
Proportional control for trajectory tracking of a wheeled mobile robot |
| title_full_unstemmed |
Proportional control for trajectory tracking of a wheeled mobile robot |
| title_sort |
proportional control for trajectory tracking of a wheeled mobile robot |
| publisher |
IEEE Conference Publications |
| publishDate |
2014 |
| url |
http://dspace.unimap.edu.my:80/dspace/handle/123456789/33721 |
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1643802750405836800 |