Indrazno Siradjuddin, Dimas Adi Prayoga, Sapto Wibowo, Yan Watequlis Syaifudin, Rendi Pambudi Wicaksono, Mas Nurul Achmadiah
A car-like robot with an Ackermann steering system is a type of nonholonomic which is characterised by a set of first-order differential constraints on its configuration variables, which are not integrable. This distinctive characteristic gives rise to complex issues in the construction of feedback controllers. This research proposes reactive control using a feedback controller using PID algorithm for a car-like robot navigation. The proposed method controls the steering angle of the car-like robot to follow the prescribed path with a constant longitudinal robot velocity. The open-loop car-like dynamical system has been formulated in the form of state-space model. Two PID controllers in parallel computed the lateral position error and the yaw angle error. The summation of the two outputs from the PID controllers was inputted into the state-space model. The PID controller parameters were selected based on trial and error. The simulation results confirm the effectiveness of the proposed control algorithm. © 2024 IEEE.
State Polytechnic of Malang, Dept. of Electrical Engineering, Malang, Indonesia; State Polytechnic of Malang, Dept. of Information Technology, Malang, Indonesia; State Polytechnic of Madiun, Dept. of Computer Control Engineering, Madiun, Indonesia
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