An Adaptive PI Control System for an Omnidirectional Mobile Robot

Kazuya Sato; Keigo Watanabe; Kiyotaka Izumi; Makoto Watanabe

doi:10.20965/jrm.1999.p0349

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JRM Vol.11 No.5 pp. 349-355

doi: 10.20965/jrm.1999.p0349

(1999)

Paper:

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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

Received:

April 16, 1999

Accepted:

June 4, 1999

Published:

October 20, 1999

Keywords:

mobile robot, omnidirectional, adaptive control, PI control

Abstract

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.

Cite this article as:

K. Sato, K. Watanabe, K. Izumi, and M. Watanabe, “An Adaptive PI Control System for an Omnidirectional Mobile Robot,” J. Robot. Mechatron., Vol.11, No.5, pp. 349-355, 1999.

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This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

An Adaptive PI Control System for an Omnidirectional Mobile Robot

Kazuya Sato*, Keigo Watanabe*, Kiyotaka Izumi** and Makoto Watanabe***

Kazuya Sato^, Keigo Watanabe^, Kiyotaka Izumi^ and Makoto Watanabe^*