Motion control of robot based on a new integral separated PID

Abstract

For the mobile robot to control the rotation angle, the ordinary integral separated PID has the problems of fluctuation, overshoot and slow response speed. A new integrated control algorithm is proposed, which can get better effect by controlling the proportion and integral term of the controller. The new integrated PID controller avoids the overshoot and fluctuation; at the same time, it improves the response speed and the stability of the system, and also the accuracy of navigation. By using this algorithm, the robot can avoid the jitter, which can reduce the wheels' wear, and improve the response speed of the system and target accessibility of the robot tracking.