Velocity control of a unicycle type of mobile robot using optimal pid controller

• Main Authors: Majid, N. A., Mohamed, Z., Mohd Basri, M. A.
• Format: Article
• Language: English
• Published: Penerbit UTM Press 2016
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utm.my/id/eprint/71168/1/NorhayatiAMajid2016_VelocityControlofaUnicycleTypeofMobile.pdf; http://eprints.utm.my/id/eprint/71168/; https://www.scopus.com/inward/record.uri?eid=2-s2.0-84979695260&doi=10.11113%2fjt.v78.9415&partnerID=40&md5=62a3e30b13e6a1b729ba02067208f3d0
• Institution: Universiti Teknologi Malaysia

A unicycle model of control a mobile robot is a simplified modeling approach modified from the differential drive mobile robots. Instead of controlling the right speed, VR and the left speed, VL of the drive systems, the unicycle model is using u and ω as the controller parameters. Tracking is much...