Stable PID Control for Mobile Robots

In order to guarantee asymptotic stability for mobile robot, proportional-integral-derivative (PID) controllers are needed. In this paper, we use an uncoupled linear PID controller with explicit conditions to control a mobile robot, in which semiglobal asymptotic stability of the linear PID controller was proven. Explicit conditions are given for choice the control gains of the linear PID controller, and assure the stability of the closed-loop system. Experimental studies for differential wheels robot are addressed. The theoretical analysis presented in this work provides a tool for the design and implementation experimentally of controllers on real mobile robots.