SELECTED METHODS OF PID CONTROLLER TUNING FOR MOBILE WHEELED ROBOTS

Karol Kania; Artur Babiarz

SELECTED METHODS OF PID CONTROLLER TUNING FOR MOBILE WHEELED ROBOTS

Karol Kania
, Artur Babiarz

Department of Automatic Control and Robotics (RAU/RAU3)

Silesian University of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

The paper presents a comparative analysis of classical and heuristic methods of tuning PID controllers for the purposes of controlling two-wheeled mobile platforms. For a given mathematical model of a mobile robot, regulators were tuned using classical methods (Ziegler-Nichols-ZN, Cohen-Coon-CC, Chien-Hrones-ReswickCHR) and the results were compared with regulators tuned using heuristic methods (genetic algorithms-GA, particle swarm optimization-PSO, optimization with ant colony algorithm-ACO). The quality of regulation was compared using the integral criterion.

Original language	English
Title of host publication	Modelling and Simulation 2023 - European Simulation and Modelling Conference 2023, ESM 2023
Editors	Rob Vingerhoeds, Pierre de Saqui-Sannes
Publisher	EUROSIS
Pages	289-293
Number of pages	5
ISBN (Electronic)	9789492859280
Publication status	Published - 2023
Event	37th Annual European Simulation and Modelling Conference, ESM 2023 - Toulouse, France Duration: 24 Oct 2023 → 26 Oct 2023

Publication series

Name	Modelling and Simulation 2023 - European Simulation and Modelling Conference 2023, ESM 2023

Conference

Conference	37th Annual European Simulation and Modelling Conference, ESM 2023
Country/Territory	France
City	Toulouse
Period	24/10/23 → 26/10/23

Keywords

Mobile Robot
Optimization
PID Regulator
Trajectory

ASJC Scopus subject areas

Modeling and Simulation

Cite this

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title = "SELECTED METHODS OF PID CONTROLLER TUNING FOR MOBILE WHEELED ROBOTS",

abstract = "The paper presents a comparative analysis of classical and heuristic methods of tuning PID controllers for the purposes of controlling two-wheeled mobile platforms. For a given mathematical model of a mobile robot, regulators were tuned using classical methods (Ziegler-Nichols-ZN, Cohen-Coon-CC, Chien-Hrones-ReswickCHR) and the results were compared with regulators tuned using heuristic methods (genetic algorithms-GA, particle swarm optimization-PSO, optimization with ant colony algorithm-ACO). The quality of regulation was compared using the integral criterion.",

keywords = "Mobile Robot, Optimization, PID Regulator, Trajectory",

author = "Karol Kania and Artur Babiarz",

year = "2023",

language = "English",

series = "Modelling and Simulation 2023 - European Simulation and Modelling Conference 2023, ESM 2023",

publisher = "EUROSIS",

pages = "289--293",

editor = "Rob Vingerhoeds and \{de Saqui-Sannes\}, Pierre",

booktitle = "Modelling and Simulation 2023 - European Simulation and Modelling Conference 2023, ESM 2023",

}

Kania, K & Babiarz, A 2023, SELECTED METHODS OF PID CONTROLLER TUNING FOR MOBILE WHEELED ROBOTS. in R Vingerhoeds & P de Saqui-Sannes (eds), Modelling and Simulation 2023 - European Simulation and Modelling Conference 2023, ESM 2023. Modelling and Simulation 2023 - European Simulation and Modelling Conference 2023, ESM 2023, EUROSIS, pp. 289-293, 37th Annual European Simulation and Modelling Conference, ESM 2023, Toulouse, France, 24/10/23.

SELECTED METHODS OF PID CONTROLLER TUNING FOR MOBILE WHEELED ROBOTS. / Kania, Karol; Babiarz, Artur.
Modelling and Simulation 2023 - European Simulation and Modelling Conference 2023, ESM 2023. ed. / Rob Vingerhoeds; Pierre de Saqui-Sannes. EUROSIS, 2023. p. 289-293 (Modelling and Simulation 2023 - European Simulation and Modelling Conference 2023, ESM 2023).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Kania, Karol

AU - Babiarz, Artur

PY - 2023

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N2 - The paper presents a comparative analysis of classical and heuristic methods of tuning PID controllers for the purposes of controlling two-wheeled mobile platforms. For a given mathematical model of a mobile robot, regulators were tuned using classical methods (Ziegler-Nichols-ZN, Cohen-Coon-CC, Chien-Hrones-ReswickCHR) and the results were compared with regulators tuned using heuristic methods (genetic algorithms-GA, particle swarm optimization-PSO, optimization with ant colony algorithm-ACO). The quality of regulation was compared using the integral criterion.

AB - The paper presents a comparative analysis of classical and heuristic methods of tuning PID controllers for the purposes of controlling two-wheeled mobile platforms. For a given mathematical model of a mobile robot, regulators were tuned using classical methods (Ziegler-Nichols-ZN, Cohen-Coon-CC, Chien-Hrones-ReswickCHR) and the results were compared with regulators tuned using heuristic methods (genetic algorithms-GA, particle swarm optimization-PSO, optimization with ant colony algorithm-ACO). The quality of regulation was compared using the integral criterion.

KW - Mobile Robot

KW - Optimization

KW - PID Regulator

KW - Trajectory

UR - https://www.scopus.com/pages/publications/85184352566

M3 - Conference contribution

AN - SCOPUS:85184352566

T3 - Modelling and Simulation 2023 - European Simulation and Modelling Conference 2023, ESM 2023

SP - 289

EP - 293

BT - Modelling and Simulation 2023 - European Simulation and Modelling Conference 2023, ESM 2023

A2 - Vingerhoeds, Rob

A2 - de Saqui-Sannes, Pierre

PB - EUROSIS

T2 - 37th Annual European Simulation and Modelling Conference, ESM 2023

Y2 - 24 October 2023 through 26 October 2023

ER -

SELECTED METHODS OF PID CONTROLLER TUNING FOR MOBILE WHEELED ROBOTS

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

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Cite this