An Overview of Robot that used PID Control.

Chong Han Zhe1, a *, Teo Teck Soon2,b

1,2
Faculty of Engineering Technology, Universiti Tun Hussein Onn Malaysia (UTHM), Pagoh,
Johor, Malaysia.
an160229@siswa.uthm.edu.my, an160239@siswa.uthm.edu.my

Keywords: PID, Two-wheeled robot, Closed loop control, Service robot, Mobile robot, Robot
Arm, DOF

Abstract. — In the past few years, the robotics has been developed rapidly. The PID control
robot become more and more common not only in robotic but also cover almost every
electronic circuit, very large computer network, process automation to all kind of gadgets. In
this study an overview will be done by reviewed any journal related to robot that used PID
control. Not only for conventional PID will be discussed, fuzzy PID control nowadays also very
conveinient to use as a control system. Fuzzy PID control it is now possible to design a control
system which is capable of taking decisions faster and certain based on blurred input, just like
Humans. Some of the people even modify the Fuzzy PID control with another network to
improve it.

1.0 Introduction
In recent year, the robotic has been widely used in all kind of industry. Nowadays, robots
are indispendable in our daily life. Robots are not only can be used in industrial environments
but also can be used in the military, hospitals, schoold and so on. The mobile robots are the
robot can move from one place to another place. They are mostly wheeled, tracked and legged
structures. Steering of a wheeled robot, the speed of the motors have to be controlled very
precisely.
The design of a mobile robot are based on [1] consist of two wheeled drive, and designs
the robot motion controller to realize the motion control of the robot.[1] The components that
used in the control system includes a pair of DC motors, a driver board, a STM32 controller,
and two Hall sensors. To measure the motor speed precisely, the hall sensors are used. This is to
realize the speed of closed loop control. The PID algorithm is adopted to control the speed of
two DC motors to achieve precise control of the speed of the mobile platform.[1] The STM32
Micro-controller are is used in this two-wheeled mobile robot project. The robot’s wheels is
driven by two DC motors and two Hall sensors are used to collect the speed of the motors. The
closed-loop PID control of the motor speed is achieved.
When talking about the wheeled-robot, there must be a part which relate to balancing.
The authors from [2], [3], [4], [5], and [6] have mentioned about the self-balancing of the
wheeled-robot. But all of them having a similar but slightly different way to achieve the self-
balancing on the wheeled-robot. The authors from [2] presented a method to design and control
a two-wheeled self-balancing robot and it focus on hardware description, signal processing,
discrete Kalman filter algorithm, system modelling and PID backstepping controller design.[2]
The Kalman filter algorithm have been used by the authors from [2] and [5]. In [2], they are
proposing a robot which can be stabilized by using PID controller while the robot try to keep
the motion at the same time track a reference signal. The proposed controller have three control
loops. The first loop uses a backstepping controller to maintain the robot at equilibrium, the
second loop uses a PD controller to control the position of robot and the last uses a PI controller
to control the motion direction.[2] While in [5] Kalman Filters have been used for a stable
control of the system and it has seen that the system can balance itself for a long time with
optimum PID control parameters obtained.

When the wheeled robot was built in 4-wheeled, it does reach the requirement of
stability. To improve the weakness of the 4-wheeled robot when it is used in a confined space,
the 2-wheeled unmanned robot was built. The weakness of the 2-wheeled robot is it cannot
stabilize by its own. Therefore, the authors from [3], [4] and [5] proposed the robot which
control by using the PID controller due to the PID controller are much easier and simple to
implement on the robot. The PID controller is very useful in the field of self-balacing robot. It
does improved the stability of the two-wheeled self-balancing robot. But it can fell down when
there is any external force apply on it..These paper will design a controller which combined the
fuzzy controller and the PID controller to improve the stability even under an external forces
acting on the two-wheeled self-balancing robot. To prove the semi global asymptotic stability of
the linear PID controller, the authors in [6] are using an uncoupled linear PID controller. The
condition to control the mobile robot have been given in order to get the most suitable gain.

As for robot arm, it is differentiated by the degree of freedom. The degree of freedom
means the number of joints a robot arm has. The higher the degree of freedom, the more the
way robot arm can move. In [17], [19], [20], [25]-[29], the discussion is about how the PID
controller applied on the robotic arm. In [18], [21], [23], [24], the PID is applied for the robotic
arm with higher degree of freedom. In [16], [22] and [30], different modified PID controller
applied in robotic arm is discussed.

To fulfil the demands from the robot for the industrial robotic for this era, the robot have
to be multi-functional, so the robot need to be smaller, slimmer and lighter than the old-fashion
robot. In order to improve the robot’s ability from several field, the key thing is use a right
controller to control itself. The PID controller is a common controller that will be used in
industrial robot. It is rather intuitive to tune properly from engineer’s experiences in many
situations, due to such benefits, many other highly developed mature control techniques are
often abandoned over PID. [7]

In order to achieve a higher level industrial robotic, the controller must be evolved too.
From the [8], [9], and [10] have mentioned about the fuzzy-PID controller. The author from
[11] presented a slightly different controller which is the hybrid fuzzy PID-controller. While the
comparison between the common PID controller and the fuzzy-PID controller was made in [8],
[9], and [10]. All these controller are the other version which is better than the common PID
controller in certain application. In common, PID was used to control linear process. Its
function is limited to the system which using the linear process. Furthermore, the general PID
control can not achieve precise control for the non-linear process and it needs to apply some
mathematical model. But for fuzzy control system, it is a control system with intelligence. It
can achieve good control wihout knowing any mathematical model of control object. However
the Fuzzy control system does not have too many differences with the traditional PID control
system, the main difference is Fuzzy control with intelligent fuzzy controller.[8]
 This paper used intelligent controller to improve performance of a mobile robot.[11] The
author want further improve the performance of mobile robot, so they not only combined the
fuzzy and PID controller but also hybridized the fuzzy-PID controller. The hybrid fuzzy-PID
controller can be adjust by the PID and fuzzy signal, it’s like a selector.[11] As the PID and
fuzzy-PID controller cannot perform well enough when both of it work individually. The author
discovered effect of hybrid fuzzy-PID controller is better.[11] Unlike fuzzy controller can only
use for fine-tuning, the hybrid fuzzy-PID controller can adjust the control proportion of PID
and fuzzy. So the gain can be adjusted way more precise and improve the stability of mobile
robot.

In addition, the application of the PID controller will be discussed in the [12], [13],
[14], and [15]. The PID controller were used in different aspect according to the application of
the authors want. In industrial automation systems, the PID controller is an important feedback
control system. The navigation systems are one of the features of autonomous control system.
In this paper, we explore the feasibility of using a PID controller for 2D navigation of a robot.
[12] The effectiveness of the PID controller used on those navigation systems are being
evaluate by multiple experiments. The prototype system was developed and being measured to
complete the study. Besides, a neutral network PID controller which has a great advantage on
processing online for an amphibious spherical robot due to their nonlinear dynamics were
proposed by the author from [13]. In the paper [14] discusses about the trajectory tracking of a
wheeled wall climbing robot using simple controller, PID controller presents an adaptive
controller for the trajectory tracking and the stabilization of the robot via the adaptive back
stepping approach. [14]. Lastly, a path following control system for a car-like mobile robot a
simple fuzzy PID controller was designed. [15]

2.0 Problem Solved

From the topic “An Overview of Robot that used PID Control.”, at this part the problem
that been solved by many journal which related to the PID control will be listed out later.

In the journal [1] , a mobile robot platform based on PID control is designed and all the
data was collected. The encoder has collected all the feedback from the motor speed. The speed
can be control accurately due to the PID algorithm is used. The free steering control is achieved
through the differential steering principle, which lays the foundation for the further practical
application.[1]
 Figure 1. The underlying structure of the robot.

Figure 2. Sturcture of the robot control system.

As mentioned earlier, the [2], [3], [4], [5], and [6] discussing the self-balancing of the
mobile-robot. The problem solved by all these authors will be similar but in different way. The
experimental results show that the nonlinear controller based on Back stepping approach has
good performances in terms of quick response, good balance and robust against disturbance.[2]
 Figure 3. The prototype two-wheeled self-balancing robot.

The PD and PID controller do made the robot become stable and reduced the vibration on
the robot body. But the condition for this two controller to make the robot balance is there is no
external forces apply on the robot. To solve the limitation of PD and PID controller. The author
proposed the Fuzzy-PID controller to implement on the robot. The result shown a significant
change on the stability of the two-wheeled self-balancing robot. The stable and balance ability
of the proposed robot was improved and the effect of external forces were significantly
reduced. [3]

Figure 4. The model of the robot from [3] and [4] respectively.

The proposed controller is suitable to control the robot in order to reach the balance. The
disk assumed as the reaction of the wheel pendulum and the robot body is the bicycle robot.
The PID controller, based on the non-model, is designed to control the attitude. [4] These two
components help in the control system to balance the robot due to the offset error that make the
robot become unbalanced.

The P controller is not suitable to use in the robot balancing even the value was inserted
appropriate. While the PI controller can maintain the robot balance for a short time when the
appropriate Kp and Ki gain values are chosen. But the robot maintain its balance in a certain
area by swinging. The PID controller are the most suitable controller that can be used in robot
balancing after the experiment has been done. The robot can stand in upright position longer if
the appropriate Kp, Ki and Kd gain values are chosen.[5]

Fig. 5. When Kp=77, Ki=0 ve Kd=0 system response

Fig. 6. When Kp=51, Ki=45 ve Kd=0 system response

Fig. 7. When Kp=51, Ki=45 ve Kd=4.10 system response

 The problem of trajectory tracking for mobile robots have been solved by the authors[6].
The theoretical and experimental results in the present work shows the effectiveness of the
linear PID controller to solve the problem.[6]

Figure 9. Differential drive robot

The simplified linear torsion-spring model with rigid link have control and suppress the
vibration of the robot manipulator. The vibration of the tip originated from flexibility of the arm
and join stiffness have been emulated by the torsion spring in the mathematical model.[7]

This paper [8] presented the design of control system of the amphibious spherical robot
using the Fuzzy PID controller, which had a lot of great superiority for the amphibious
spherical robot. The combined fuzzy-PID controller had a better performance. The fuzzy-PID
can have a fast response and small amount of overshoot which cannot be done by the fuzzy
controller and PID controller. The fuzzy-PID controller also have the better ability of control,
this caused the transition time become effectively short. Besides the author from [9] prove the
result which the fuzzy-PID controller is better than the conventional PID controller. The
controller which is an amalgamation of fuzzy logic and a PID had a superior performance.[9].
Even the fuzzy-PID controller has small amount of overshoot and its settling time is much
lesser than conventional PID. By comparing to the conventional PID, it has the obvious effect
in shorting the settling time. Parameters Kp , Ki , Kd chosen by Fuzzy PIDare constantly
changed, along with the control rules defined for the object.[9] In the term of control system,
the fuzzy-PID has a better performance on that. The controller which is PD-fuzzy controller and
PID controller which has nonlinear characteristics have been tested. The PD-Fuzzy controller
and conventional controller PID are capable of controlling the balancing of two-wheeled
mobile robot.[10] By controlling the angular position of the subsystems, the PD-Fuzzy works
very well even the angular position of the subsystems are nonlinear in nature. The output of the
systems settled faster with very small angular position error.[10] The simulation results [15]
show that the proposed controller has better performance in comparison with conventional PID
controller for mobile robot with any initial state.[15]
 Figure 10. Structure of Amphibious Spherical Robot

While the stability of mobile robot was improved by implemented the hybrid fuzzy-PID
controller. Although the rising time is almost the same, but the overshoot reduced 15% and the
settling time is shorter than other controller. [11] The system is much stabilize compare with the
system using PID, fuzzy or fuzzy-PID controller.

Figure 11. Hybrid controller structure

In term of application, the project robot can be used as a substitute for any unmmaned
autonomous vehicle. Besides, it also can be implemented into robot which require high
precision movement. One of the application is the autonomous driving system. Further, this can
be integrated with a Global Positioning System (GPS) and can be programmed to travel from a
given coordinate to the desired destination. The robot which controller by the PID controller
can focused on the target even there is some disturbances was occurred due to the controller
system performing well. It could deal with this disturbance as a change in dynamic properties,
which were proved from the position tracking of the simulation.[13] The control system
showed a good adaptability against the changes in the dynamic disturbances. The proposed
algorithm which work with the PID and neutral network have even better performance,
including the racking accuracy and the velocity have been upgraded. The PID control method
applies to address the trajectory planning problem for the platform.[14] The PID controller will
calculate the error value as the difference between a measured process variable and a desired set
point.[14] The control variable value will be adjusted by the PID controller to minimize the
error over time. The experiment results showed the proposed PID controller is capable
successfully steering the mobile platform to track the elliptic trajectory and the results also
clearly indicate that the PID controller able to control the robot quite well. [14] The controller
also have a lower convergence time without steady-state tracking error which is good for using
in the path following car-like mobile robot.
 Figure 12. The wall climbing robot with 2 track wheeled drive

In journal [17]-[21] and [23]-[29], a common PID controller is applied on robotic arm to
solve different problems. In [17], the PID controller is tuned for the rotatory encorder of the
robot arm to get accurate position of its end effector. The tuned PID controller successfully
replace the ON and OFF controller which is initially used to function the robot arm and the
tuned PID controller has a better performance with smooth and precise movement.

Figure 13. Response Graph of Both Controller and Set Point

 In [18], the robot arm has 3-DOF. Hence, forward and inverse kinematic needs to be
calculated by using D-H parameters. The PID controller is then tuned to get an accurate
position of robot arm by using Ziegler Nichol Method. The results are stimulated and shown in
MATLAB Simulink Software.

Figure 14. The position of robot arm when x=10, y=10 and z=3

In [21], the force signal of a surgical robot arm is tuned by using a PID controller to
improve and adjust the output force. Without PID controller, the output force of the surgical
robot arm is poor with great oscillation and overshoot. After the tuning of PID controller, the
surgical robot arm is able to produce smooth and slow force reaction.

In [23], a common PID controller is applied on a robot arm gripper. The PID controller
is tuned to control the DC motor so that the DC motor produces best performance for both
grasping and manipulation to give the smallest error, small overshoot, fast settling time and a
stable system.

Figure 15. Visualizations of robot manipulator gripper

 In [16], [22], and [30], different modified PID controller is applied on the robot arm and
is compared with the common PID controller. In [16], Genetic Algorithm Based PID controller
is used to tune a robot arm. This method of tuning is compared to the Ziegler-Nichols Tuning
Method which is commonly used.

Figure 16. Ziegler-Nichols Tuning Rule

Basically, Genetic Algorithm method consists of three main stages: Selection, Crossover and
Mutation. The process is repeated over and over again until it archieve an optimized tuning.
 Figure 17. Simulation flow chart for the computation of
Genetic Algorithm PID controller parameters

In the end, from the graph, it is found that the Ziegler-Nichols method is good for giving the
designer the initial guess for the PID tuning. The step response under PID controller tuned by
Genetic Algorithm is better in terms of minimizing the max overshoot, the rise time and the
settling time

Figure 18. System Response under both methods PID controllers

In [22], the fuzzy logic PID controller is implemented with neural network by replacing
the rule base of a fuzzy system with a trainable neural network. With this implementation, the
training time, the ability to generalize, the ability to find minimizing weights can be improved.

Figure 19. A Fuzzy system with Neural Network rule base

 Figure 20. Model of Neuro-Fuzzy controller

The results are also demonstrated in a graph with the comparison with common PID controller.

Figure 21. PID(blue) & Neuro-Fuzzy(red) controllers’ Step Response

with Disturbance of 0.5 N-m

In [30], the classic PID controller is compared to the Fuzzy Supervisory Control. The
FSC has the form of PID control but the three parameters of PID control are tuned using fuzzy
controller based on the error and change of error as inputs to Fuzzy Logic Controller
 .

Figure 22. Fuzzy Supervisory Control

Both the controllers are stimulated in the Matlab Simulink Software and are compared in
response graph.

Figure 23. Classic PID(blue) & Fuzzy Supervisory(green) Controllers

Step Responses with Disturbance of -1 N-m at 0.3 sec.

From the graph, it is cleared that the fuzzy logic control achieve better performance for tuning
the PID gains than conventional tuning methods such as eliminating overshoot, rising time and
steady state error.

3.0 Advantages of the projects

The PID controller has high efficiency on the steering mechanism and low cost. The basic
requirement for realizing three-wheeled robot steering is precisely controlling the speed of the
motors on both sides of the robot. The PID-controller that been used consists of proportional,
integral and differential unit to reflect the current state, cumulative influence and change trend
of the input signal respectively, completing the control calculation comprehensively. It occupied
a dominant position in the control system field due to its convenience of parameter adjustment
or setting. There are several features of self-balancing robots which makes them attractive for
users. Example like the robot no need of fossil fuels to run, high ease of use and great
manoeuvrability because of independent control of two wheels and the robot only use a low
cost energy instead of using fossil fuels. PID control logic makes good use of pre-existing
equipment, low cost manufacturing system is possible. Two feedback procedures in anti-
vibration and shaft position control are not dependent each other, so they can be employed
separately on its own intention. Although two wheels balancing robot are intrinsically nonlinear
and their dynamics will be described by nonlinear differential equations, it is often possible to
obtain a linearized model of the system. If the system operates around an operating point and
the signals involved are small signals, a linear model that approximates the nonlinear system in
the region of operation can be obtained.

The backstepping approach provides a powerful design tool for nonlinear system in the
pure feedback and strict feedback forms. So it is of great interest and feasible to use
backstepping approach to design a compatible controller for two-wheeled self-balancin robot
when the mathematical model of robot is identified. By having the disk as a reaction of the
wheel pendulum, the robot can keeps the balance stably, even though the offset error occurs.

A visual computer interface based on Qt-Creator has been created. By using this software,
there are several benefit that can be make the researcher a lot of easier. Those benefits including
the different control algorithms can be performed on the robot easily, the control parameters can
be set up online, filter algorithms in various structures can be tried and the reaction of these
changeable values to the system can be observed.

The explicit conditions are given for choice the control gains of the linear PID controller,
and assure the stability of the closed-loop system. The explicit conditions given help the authors
to save so much time to straight forward undergoes their experiment instead of wasting time to
find out the appropriate gains. This explicit condition was contributed by the semi global
stability proof system. This system given the explicit conditions for the selection of the control
gains in the PID controller proposed. Besides, the linear system used stabilize the mobile robot
in closed loop. The theorem in the linear PID controller has applied to mobile robot. The
theorem can be used to calculate the control gains by any condition.

The advantages of wheeled mobile robots which using the PID controller, they are light
weight simple mechanism, convenient driving and flexible mobility. All these advantages are
widely used in the fields of industry, agriculture, anti-terrorism, and space exploration. The wall
climbing robots are able to replace human to undergo the task which is highly dangerous and
highly require skill. The amphibious spherical robots proposed by the author consisted a lot of
application. Due to the amphibious can be used on land and move under the water, it reduce the
risk and burden of the human work. The applications including pipeline cleaning, submarine
topography survey, samples collection, topography surveys, water-quality monitoring, sample
collection, and recovering objects on land and underwater. The controller can be easily realized
physically by the simple structure. The robot can track any desired target accurately in vehicle
fixed coordinate system due to the linear velocity of the amphibious robot can be controlled.
This control system of the spherical underwater robot using the neutral network PID control
algorithm, which had a great superiority on processing online for the amphibious spherical
robot.
 The fuzzy-PID controller is now possible to be implemented in the robot which is capable
of taking decisions faster and certain based on blurred input. The fuzzy-PID controller has
enough convergence rates without steady-state error. This have reduce the possibility for the
robot deviate from its path. The robot design by using this control system are aim to be
manoeuvre on land as well as in sea. Besides, the fuzzy-PID algorithm also being design that
can be used as building block for the construction of amphibious spherical robots. The proposed
mobile robot which controlled by PID controller can be used as the delivery system. It can
search and deliver the item to a certain place or to the staff. In the military field, mobile robot
can replace soldier to carry out the mission which is very dangerous. This can help to reduce the
mortality rate in the war zone. When come to the medical field, the medical robot can
undergoes some action which require very high standard skill. The robot does not like a human
hand, it does not shake so it can operate more accurately with less invasiveness. The mobile
robot bring uncountable benefits to the human life. The main advantage is the robot have the
ability to protect itself. When there is environmental disturbances occur, the robot will stop or
go in some direction. Besides, the robot will go back to its original point from where it left prior
when the unexpected condition occur.

4.0 Disadvantages of the projects

The PID controller gains that were used in this project cannot be tuned precisely. Due to
this the project might have a slightly error on the data. If the gains of PID can be tuned
precisely for the given purpose, it will be more beneficial than heavy and complicated control
algorithm.[7]

The author from [10] only compare two of the controller which is PD-fuzzy controller
and PID controller. As the controller have several kind including, P, PI, PID, fuzzy, PD-fuzzy,
fuzzy-PID, hybrid fuzzy-PID and so on, the comparison size might can be bigger to let the
result become more firm. The system performance might be improved with a systematic
optimization of the gains and fuzzy parameters[10]. The most appropriate gains should be
inserted in order to get the result more precise. At the best, using PID controller has problems
that to overcome them there are several ways, which they have own complexity, computation
burden, and defect.[15] Although the PID controller are work in a simple way to control robot,
but sometime the PID controller are not suitable for using at any robot. The PID controller
should have its own algorithm before matching desire use. They are also limit to several process
only not every process can be used.

For the Hybird Fuzzy PID controller, the performance of Hybrid Fuzzy PID controller is
better than Fuzzy PID controller, but is not obvious.[11] Towards this point, the research are be
doubted is that worth able to undergo. Although the performance are being improve on the
mobile robot, the author might can discover more in order to improve the stability of the mobile
robot significantly.

For the project robot [1], [2], [3], [4], [5] and, [6] the disadvantages are similar which is
the camera can be add into the robot control system in order to see the live feedback of the
robot surrounding. The backstepping robot which used the DC-servo motor for the actuation.
The robot my get overheat due to the servo moor are poor in motor cooling and it is easily
being damaged when there is sustained overload. To add on this function, a deep learning
algorithms have to be achieve first. The weight that should also be one of the consideration of
this project robot application in future. The authors might want to put some weight on the robot
to find out is there any effect on the robot. For using the fuzzy-PID controller, there are possible
to fell if there is any stronger external forces apply on it. Besides, the experiment robot was run
without any load apply on the robot. As common two-wheeled robot are used to be in service
field or the delivery field. The requirement of both of these field are the robot must be carried
something from one to the place. The two-wheeled robot might get unstable or lose balance
when there are any load applied on in. The two-wheeled robot should be tested under a certain
weight apply on it to fulfil the demands.

The performance of the amphibious spherical robot that proposed by the authors [8] are
highly depends on the circumstances. When there is a disturbance exist, the amphibious
spherical robot performance will directly being affected. The robot is also highly rely on the
fuzzy-PID controller, it control system cannot be replace by others. Furthermore, the
amphibious spherical robot are moveable underwater, but the researcher do not provide any
data which related to the robot can go how deep of the water. The robot might only can use only
in the shallow area. Taking the trouble in handling an amphibious robot into account, it is tricky
to solve the problem to control a robot when a system is complex.[9] Besides one of the
function of this project robot is rescue people from the disaster. But the path of the robot should
be prepared or planned before it goes. The disaster scene are unpredictable, if the path of robot
need to be planned then the time to rescue people will be wasted on the path planning. The
neutral network also have some weakness which it has a slow convergence rate and a long
training time. This weakness had restricted its development due to most of the control system
cannot accept that. The performance index of a control system cannot be satisfied by the
traditional neutral network. The performance index of control system including fast response,
less over shoot and so on.[13]

For the project robot [12], The slipping between tyres and the ground can be minimized to
improve the steady acceleration of the robot. If any error has occurred on its way from the
source to the destination location without being noticed, then the error gets multiplied and the
robot is sure to go to a wrong destination.[12] There is no checking process in the robot. The
real-error and its estimated-error sometime will be different. When this happened, there is
deviations from the ideal to the actual data.

The wall-climbing robot [14] lack of the detection of the wheels and the wall. This will
determine whether the robot can be climb on the wall or fall from the wall. The robot was
proposed to be climbed on the wall so this must be the main consideration of the authors. This
problem can be solved by adding the pressure sensor to sense the pressure in between the robot
wheel and the wall. This function have to be very accurate in order to let the robot can be free
to move and do not fall from the wall. By adding sensor, the mobility performance of the robot
on the wall will be improved.

5.0 Conclusion

In conclusion, the PID controller provide a solution to optimize the robot control in
force, postion and movement. PID controller can be tuned and applied in robot to reduce the
error, decrese overshoot, increase settling time and increase stability of the system.
Furthermore, different methods can be implemented in the classic PID controller to produce a
new controller with better performance.

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