Dynamically Adjustable PID for Adaptive Motion Control: PID++ Algorithm Introduction and Applications

Abstract

The Holy Grail of Robotic Motion Control is the implementation of an algorithm which is humanlike in operation and low in computational cost. Today, most robotic motion control approaches are highly sophisticated and by implication, computationally costly. A proposed new algorithm, with the Proportional-Integral-Derivative (PID) at its heart, called the PID++, will achieve humanlike control while being computationally lightweight. This relatively simple algorithm will have the speed and precision of a machine and have characteristics that are unmistakably human. Unlike current robotic motion control algorithms that are tedious at best to implement, lacking in automatic situational adaptability, and tending to be static in nature, the PID++ algorithm will be just the opposite. The PID++ algorithm will be a radically new, simple, and computationally lightweight approach to humanoid motion control, using periodic, minor adjustments and basic arithmetic, based on the real-time encoder position input, to achieve a stable, precise, controlled, dynamic, adaptive control system, for linear motion control, in any direction regardless of load. This algorithm will be complete in its implementation, and truly dynamic and adaptive by design. Engineers will be able to use this algorithm in commercial, industrial, biomedical, and space applications alike. Motion control will be easy to implement on even the smallest microcontrollers (MCU) using a single command interface and without the need of reprogramming or reconfiguration. This paper discusses potential PID++ applications.