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

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. Multiobjective 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.