As per path control, I design simulink function block for unicycle mobile robot, but the gain control of pid for desired position gives some unbalanced movement of robot. Can anyone suggest how I can control the movement so accurately for unicycle mobile robot.
Hi,
for nonlinear systems, it is clear that PID could not work appropriately. It is required to somehow linearize the robot system, see this:
John J. Craig, Introduction to Robotics: Mechanics and Control (3rd Edition), Prentice Hall; 3 edition, 2004.
chapter 9 and 10
Hi,
Good reference by Ali Chaibakhsh. If your model is suitable a very good tool is flatness. See
"Modelling and Control of Wheeled Mobile Robots not Satisfying Ideal Velocity Constraints: The Unicycle Case"
W. Leroquais and B. d’Andréa-Novel,
http://www.sciencedirect.com/science/article/pii/S0947358099701652
or
"Output feedback controller design of a unicycle-type mobile robot with delayed measurements" by Guechi, E.-H. ; UVHC-LAMIH, Univ. Lille Nord de France Le Mont Houy, Valenciennes, France ; Lauber, J. ; Dambrine, M. ; Defoort, M.
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6179384
Hi,
You can control the unicycle using PID controllers. I suggest you check out the material of the Coursera course called Control of Mobile Robots. you will find a nice explanation and examples.
But, if you need better performance you will want to use a nonlinear controller. The link bellow has a MATLAB/Simulink system for you to simulate controller for the unicycle. It includes the kinematic and the dynamic model of the robot, and some examples of nonlinear controllers. You can use the same model to test your own controllers.
http://www.mathworks.com/matlabcentral/fileexchange/44850-velocity-based-dynamic-model-and-adaptive-controller-for-differential-steered-mobile-robot
Hi,
I want to ask about sampling a non linear system (a networked robot). What are the constraints of choosing the sampling period for a non linear networked system?
Hi, Sassi.
Take a look in this paper:
http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=898794&url=http%3A%2F%2Fieeexplore.ieee.org%2Fxpls%2Fabs_all.jsp%3Farnumber%3D898794
Hi Felipe,
In order to apply what is described in the paper that you gave me, I should linearize the system.
Hi, Sassi.
Maybe you find the following paper more helpful:
http://www.hindawi.com/journals/mpe/2015/460476/abs/
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