A Comparative Study of PI Controller Performance in Simulated and Real-World Interplanetary Rover Actuator Systems

A Comparative Study of PI Controller Performance in Simulated and Real-World Interplanetary Rover Actuator Systems | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article A Comparative Study of PI Controller Performance in Simulated and Real-World Interplanetary Rover Actuator Systems Vevina Shreya Cutinho, Navneeth S. R., Swathi Prasad B. K. This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-5232426/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract This paper presents a comprehensive study on the application of Proportional-Integral (PI) controller for regulating the output speed of a motor employed in interplanetary rovers, making use of an Arduino UNO micro controller which serves as the PI controller and sensor interface for the experimental setup. The research provides insight on controller performance and the importance of accurate parameter estimation in modelling actuators for interplanetary rovers dealing with extreme terrain disturbances. The investigation involves experimental data obtained from the motor encoder, which is contrasted with a simulated model created in Simulink. The model is established utilizing Parameter Estimation Optimization Technique to satisfy the physical constraints and consistency of the simulation with the physical system. The comparative analysis focuses on the time response characteristics of both the simulated and experimental data when subjected to a step input. To enhance controller performance, the motor is subjected to PID tuning utilizing the trial-and-error method. Through this study, the ideal values of proportional and integral gains were found to be 0.5 and 2 respectively. With the obtained values of controller parameters, the actuator responds with an overshoot of 4.41% and a settling time of 1.35s. The experimental and simulated responses show very close agreement with each other, thus validating the parameters estimated through optimization. The response obtained with the implementation of a PI Controller shows great improvement over the response obtained in the absence of the PI controller, demonstrating the importance of implementing a PI controller in interplanetary applications. Encoder Interplanetary Rover Parameter Estimation PI Controller Sensor interfaces Speed Control Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-5232426","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":367669691,"identity":"7b997e9d-9a10-42a2-8942-daf1fd735bdf","order_by":0,"name":"Vevina Shreya Cutinho","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAABCUlEQVRIiWNgGAWjYJCCA0CcAGYlVNgAScbGA8RreXAmDaSlgaAWBpgWxodth+GG4AQGx3sMDxfU1OWZt/cYfkhgO2+3tv0w0JYam2icWs6cMTg849jhYpkzZ4wlEnhuJ287kwjUciwttwGHFskZaQmHedgOJM6QyDGQSJC4nWx2AKiFseEwbi3znwG1/KtLnCH/xvhHgsG5ZLPzD/Fr4ZdgPnCYt40ZaAuPmURCwgE7sxsEbOHnSQZq6TucOIMnrcwi4UBygtkNoC0JePzCxn6w+TPPN6DD2A9vvvnzn5292fn0hw8+1Njg1IIEOAxAZCJYZQJh5SDA/gBE2hOneBSMglEwCkYSAACi0mj2Rg09RgAAAABJRU5ErkJggg==","orcid":"","institution":"M S Ramaiah University of Applied Sciences","correspondingAuthor":true,"prefix":"","firstName":"Vevina","middleName":"Shreya","lastName":"Cutinho","suffix":""},{"id":367669692,"identity":"252b3c8c-da6d-4e84-93cf-a93b44490e6b","order_by":1,"name":"Navneeth S. 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