Methodology for Identification, Modeling and Control of a Robot's Locomotion Motors

A methodology for the identification, modeling and control of the locomotion motors of a mobile robot is presented. The vehicle is based on the lego kit mindstorms EV3 and is programmed in matlab's simulink. A nonparametric system identification method was applied using the matlab systems identification toolbox, in order to obtain the model in continuous time of each motor, selecting a First Order Plus Dead Time (FOPDT) structure. Classical controllers P, PI, and PID (Z-N tuned) are designed and compared with performance metrics. The PID controller show better performance.