Unified Dual-Wheel PID Control for Differential Drive Robot with Distinct Wheel Error Functions

The PID controller is the most versatile controller due to its ease of implementation. However, multi-input control design with PID controller is a challenging task. This paper presents the unified PID implementation for the right and left wheels of the differential drive robot. The distinct error function was considered for each wheel utilizing the robot's kinematic relationship. The simulation result of the proposed unified dual wheel PID (UDW-PID) controller presented for the straight, circular and sine path. The control action generated for the respective wheel resulted in smoother and quicker convergence towards the path, and afterwards stable behaviour over the path.