Formation Control of Mobile Robots using Adaptive PID Controller

적응 PID 제어기를 이용한 이동로봇의 군집제어

  • Park, Jin-Hyun (Department of Mechatronics Engineering, Kyeognam National University of Science and Technology) ;
  • Choi, Young-Kiu (Department of Electrical Engineering, Pusan National University)
  • Received : 2015.07.29
  • Accepted : 2015.08.20
  • Published : 2015.11.30


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.


Supported by : Gyeongnam National University of Science and Technology


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