Applications of Taguchi method to PID control for path tracking of a wheeled mobile robot

被引：0
|
作者：
Lee, Chin-Tan [1 ]
Su, Bo-Rui [1 ]
Chang, Chih-Hao [1 ]
Hsu, Tai-Yang [1 ]
Lee, Win-Der [2 ]
机构：
[1] Natl Quemoy Univ, Dept Elect Engn, Jinning 89250, Taiwan
[2] Lee Ming Inst Technol, Dept Elect Engn, New Taipei 24305, Taiwan
来源：
PROCEEDINGS OF 4TH IEEE INTERNATIONAL CONFERENCE ON APPLIED SYSTEM INNOVATION 2018 ( IEEE ICASI 2018 ) | 2018年
关键词：
Taguchi Method; PID control; Wheeled mobile robot; DESIGN;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
In the paper, the authors will discuss DC motor of drive control for Wheeled Mobile Robots (WMRs), and use a Proportional-Integral-Derivative (PID) controller in the step responses. Taguchi method is used to find the optimal design of PID controller parameters in path tracking task. Multi-objective optimization to analyze the proportional gain, integral gain, and derivative gain to Minimize the Maximum Percentage Overshoot (MPOS) of the control system, Tracking Stability (TS) optimization, and Tracking Time (TT) optimization. Using the Taguchi-PID (TPID) method can effectively reduce the process of manual adjustment parameters, and make the WMR optimized for the tracking task.
引用
收藏
页码：453 / 456
页数：4
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