Control of nonholonomic wheeled mobile robots via i-PID controller

An intelligent PID controller (i-PID controller) is applied to control the nonholonomic mobile robot with measurement disturbance. Because of the particularity of the nonholonomic systems, this paper propose to use a switching parameter α in the i-PID controller. We show in simulations that the proposed method is able to control the nonholonomic mobile robots with measurement disturbance, and it can also stabilize the robot at a static point.