An Adaptive PI Control System for an Omnidirectional Mobile Robot
Kazuya Sato*, Keigo Watanabe*, Kiyotaka Izumi** and Makoto Watanabe***
*Department of Advanced Systems and Control Engineering, Graduate School of Science and Engineering, Saga University, 1 Honjo, Saga 840-8502, Japan
**Department of Mechanical Engineering, Faculty of Science and Engineering, Saga University, 1 Honjo, Saga 840-8502, Japan
***Telecommunication System Engineering Information Technology Division, Nitsuko Corporation, 2-6-1 Kitamigata Takatsu-ku, Kawasaki 210, Japan
Resolved acceleration and PID control provide high-performance control in an omnidirectional mobile robot, but most research does not consider plant parameter perturbations requiring that control gains be readjusted. We present an adaptive PI control strategy for mobile robots that automatically adjusts PI controller parameters based on error signals. Experiments verify the effectiveness of our method.
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