Moving least-squares based gain-schedule PID control for trajectory tracking of a robot

This paper develops a robot trajectory tracking system based on least-squares gain PID control. Different from the offline adjustment method of PID controller, even if the environment (for example, the shape of the target blue line or the friction of the ground) is constantly changing, only a set of fixed PID parameters are used. LMS can estimate the turning angle online so that can adjust it in real time PID gain (its parameter). PID parameters change continuously and become dynamic. The dynamic parameters of the PID controller will control the robot to perform more precise line tracking actions, thereby simulating automatic driving.