PI controller design for velocity control of a mobile robot

Abstract

Velocity control of a ground robot is designed to obtain the current motion coordinate. Under the assumption of linear velocity and a fixed steering angle, the current motion coordinate of this robot can be defined. The closed loop control system is obtained by verification of DC motor model, design of speed controller by PI (proportional, and Integral) controller, and implementation of a kinematic model. A loop of PI controller is designed to provide a stable velocity to the system, and acquainted a current coordinate when the robot is started moving. The simulation and experimental results have demonstrated the functionality of velocity control of the mobile robot.

Keywords: Linear velocity; steering angle; PI; mobile robot