Robust Hybrid Controller Design to Stabilise an Underactuated Robot Vehicle under Various Input

Table 2

PID and PD gain parameters.

Loop	PID gains
	Kp	Kd	Ki
Left wheel	50	1	0.01
Right wheel	50	1	0.01
First link	10	2	0.1
Second link	6	7	0.8
Payload actuator	20	10	0