A Smooth Time-Varying PID Controller for Nonholonomic Mobile Robots Subject to Matched Disturbances

José Guadalupe Romero, Emmanuel Nuño, Esteban Restrepo, Rafael Cisneros, Marco Morales

Abstract: In this paper we present the design of a robust controller for nonholonomic differential wheeled mobile robot moving on the plane and subject to constant unknown disturbances. The proposed controller is smooth, time-variant and has a (simple) PID-like structure. Also, as analytically proved, it achieves global asymptotic convergence to zero of the position and orientation (regulation) errors despite the perturbations. Realistic simulations in the Gazebo-ROS environment validate the effectiveness of our approach.