Implementation of Fixed-Point PID Controller Based on the Modified Delta Operator and Form for Autonomous Robots

Abstract

There are power/size and price/cost constraints in realizing autonomous robots such as humanoid robots. To meet these specifications, fixed-point microprocessors with a short word-length is suitable for the control. The modified delta form for fixed-point microprocessors was previously proposed. Considering that many autonomous robots are controlled by PID-like controllers and DC motors, this paper presents the procedure for applying the implementation methodology to a PID-like controller. As an illustration, a PID-like control of a DC Motor-load system is considered. The experimental results showing the effectiveness are presented.