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Keywords

differential drive, PID controller, motion trajectory, real-time speed control, skid steering, SMP mobile robot, surface mobility control

Document Type

Research Article

Abstract

Surface mobility control is a fundamental challenge in robotics, and its applications range from autonomous vehicles to industrial automation. The main aim of the paper is to analyse the PID controller parameters for the speed control of a surface mobility platform mobile robot. MATLAB simulation toolbox and mathematical model of the DC motor are used to find the optimal PID controller parameters to complete the DC motor speed control system. For the SMP motion control system, the mobile robot kinematic model is supported as a differential drive system. In this paper, the PID controller parameters for the DC motor control system are analysed with simulation results using various KP, KI, KD gains. The experimental results of the SMP mobile robot with optimal PID controller parameters are analysed by driving on the rough, slope and even terrains. According to simulation results and experimental tests, the proposed system effectively controls the speed of the SMP mobile robot, demonstrating satisfactory performance in terms of settling time, rise time, and system overshoot. Among PI and PID controllers, the designed PID controller can quickly control to reach the desired DC motor speed. Using the optimal PID coefficient parameters, all motors reached their desired speed in 0.12 seconds during simulations. In the experimental tests on various terrain (even, slope and rough), all motors achieved their desired speed simultaneously within 25 seconds

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Publication Date

28-6-2024

First Page

29

Last Page

40

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