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http://dx.doi.org/10.6109/jkiice.2015.19.11.2554

Formation Control of Mobile Robots using Adaptive PID Controller  

Park, Jin-Hyun (Department of Mechatronics Engineering, Kyeognam National University of Science and Technology)
Choi, Young-Kiu (Department of Electrical Engineering, Pusan National University)
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.19, no.11, 2015 , pp. 2554-2561 More about this Journal
Abstract
In this paper, we strengthen the advantages of a simple PID controller as a study on the formation control of mobile robots and propose an adaptive PID controller with robust performance at the dynamics characteristics of following robot. Simulation studies show that the adaptive PID controller has better keeping constant distance and angle such as tracking performance of following robot for the formation control than a conventional PID controller. This is the proposed adaptive PID controller to change the gains is found to represent the best performance. This is able to verify that the performance of the proposed adaptive PID controller is excellent.
Keywords
formation control; PID controller; Adaptive PID controller;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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