Fast self tuning PID controller specially suited for mini robots
نویسندگان
چکیده
The use of complex self tuning Proportional, Integral and Derivative (PID) controller, to drive the speed and direction in mini robot, is limited by calculus power and by the precision and noise of the on board input sensors, particularly severe problems arise in computing the derivative term. In this work a PID whose terms are computed from filtered input with a simple recursive Exponentially Weighted Moving Average (EWMA) is used. In order to solve the tradeoff between speed and noise rejection, parameters of the filter are dynamically adjusted using statistical criteria. Due to its low resource requirements and the simplicity of implementation the presented algorithm is well suited for use in mini robots.
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