Self-tuning pid based navigation for autonomous mobile robot

The aim of this project is to design a self-tuning PID control system for an autonomous mobile robot. Then run the simulation of the system designed to test the performance of the controller system. This self-tuning PID controller is designed for the robot PIONEER 3D-X. First, the robot's kinem...

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Main Author:	R Sivam, Saravanakumar
Format:	Thesis
Language:	English
Published:	2021
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.utm.my/id/eprint/98392/1/SaravanakumarRSivamMSEE2021.pdf.pdf
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id	my-utm-ep.98392
record_format	uketd_dc
spelling	my-utm-ep.983922022-12-12T01:12:00Z Self-tuning pid based navigation for autonomous mobile robot 2021 R Sivam, Saravanakumar TJ Mechanical engineering and machinery The aim of this project is to design a self-tuning PID control system for an autonomous mobile robot. Then run the simulation of the system designed to test the performance of the controller system. This self-tuning PID controller is designed for the robot PIONEER 3D-X. First, the robot's kinematic and dynamic model was obtained by refer to journal. Designed the mathematical STC PID controller model with mathematical calculation. This PID controller is correlated with pole-assignment technique of self-tuning method. Pole-Assignment Control Method is an indirect self-tuning method that built the controller function based on the device parameter. This STC approach is the approach for controller design, by setting a control parameter, to locate the closed loop system poles at stable position in s-plane. Conventional PID controller were designed and implemented in robot model in order to result comparison. The conventional PID controller designed using Auto-Tuning technique. MATLAB Simulink was used in this project to run the simulation of the models designed. Reference trajectory was insert as input signal to the robot model and actual trajectory was evaluated. Analysis about the actual trajectory and variables of both STC and conventional PID controller system. Response graph obtained and used in evaluation of the system. 2021 Thesis http://eprints.utm.my/id/eprint/98392/ http://eprints.utm.my/id/eprint/98392/1/SaravanakumarRSivamMSEE2021.pdf.pdf application/pdf en public http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:144575 masters Universiti Teknologi Malaysia Faculty of Engineering - School of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery R Sivam, Saravanakumar Self-tuning pid based navigation for autonomous mobile robot
description	The aim of this project is to design a self-tuning PID control system for an autonomous mobile robot. Then run the simulation of the system designed to test the performance of the controller system. This self-tuning PID controller is designed for the robot PIONEER 3D-X. First, the robot's kinematic and dynamic model was obtained by refer to journal. Designed the mathematical STC PID controller model with mathematical calculation. This PID controller is correlated with pole-assignment technique of self-tuning method. Pole-Assignment Control Method is an indirect self-tuning method that built the controller function based on the device parameter. This STC approach is the approach for controller design, by setting a control parameter, to locate the closed loop system poles at stable position in s-plane. Conventional PID controller were designed and implemented in robot model in order to result comparison. The conventional PID controller designed using Auto-Tuning technique. MATLAB Simulink was used in this project to run the simulation of the models designed. Reference trajectory was insert as input signal to the robot model and actual trajectory was evaluated. Analysis about the actual trajectory and variables of both STC and conventional PID controller system. Response graph obtained and used in evaluation of the system.
format	Thesis
qualification_level	Master's degree
author	R Sivam, Saravanakumar
author_facet	R Sivam, Saravanakumar
author_sort	R Sivam, Saravanakumar
title	Self-tuning pid based navigation for autonomous mobile robot
title_short	Self-tuning pid based navigation for autonomous mobile robot
title_full	Self-tuning pid based navigation for autonomous mobile robot
title_fullStr	Self-tuning pid based navigation for autonomous mobile robot
title_full_unstemmed	Self-tuning pid based navigation for autonomous mobile robot
title_sort	self-tuning pid based navigation for autonomous mobile robot
granting_institution	Universiti Teknologi Malaysia
granting_department	Faculty of Engineering - School of Electrical Engineering
publishDate	2021
url	http://eprints.utm.my/id/eprint/98392/1/SaravanakumarRSivamMSEE2021.pdf.pdf
_version_	1776100584847310848

Self-tuning pid based navigation for autonomous mobile robot

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