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Tuned PID Parameters
| P | I | D | N | |
|---|---|---|---|---|
| Motor 1 | 0.231 | 0.358 | 0.007 | 15796.2 |
| Motor 2 | 0.158 | 0.493 | 0.011 | 5750.9 |
| Motor 3 | 0.166 | 0.535 | 0.012 | 6962.8 |
Performance Comparison of Non-Tuned, Tuned, and Motor Integrated PID Tuned Controllers
| Metric | Non-Tuned | Tuned | Motor Integrated PID Tuned |
|---|---|---|---|
| Steady State Linear Velocity Error (Vess,%) | 13.29 | 6.26 | 4.32 |
| Linear Velocity Overshoot (%) | 8.68 | 17.48 | 17.17 |
| Steady State Time (Tss, s) | N/A | N/A | 61.9 |
| Maximum Angular Velocity Error | 0.104 | 0.092 | 0.117 |
| Average Angular Velocity Error | 0.010 | 0.006 | 0.008 |
| Execution Time (s) | 74.7720 | 68.7573 | 67.2488 |
| Tracking Error (Max, m) | 0.0777 | 0.0755 | 0.0756 |
| Tracking Error (RMS, m) | 0.0425 | 0.0408 | 0.0404 |
| Tracked Path Length (m) | 6.620 | 6.620 | 6.630 |
| Planned Path Length (m) | 6.627 | 6.627 | 6.627 |