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On the adaptive performance improvement of a trajectory tracking controller for non-holonomic mobile robots
University of Patras, Department of Electrical and Computer Engineering.
Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.ORCID-id: 0000-0003-0126-1897
University of Patras, Department of Electrical and Computer Engineering.
University of Patras, Department of Electrical and Computer Engineering.
2011 (Engelska)Ingår i: 2011 IEEE Conference on Emerging Technologies & Factory Automation (ETFA 2011): Toulouse; 5 September - 9 September 2011, Piscataway, NJ: IEEE Communications Society, 2011, artikel-id 6059092Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

In this article a novel performance improvement scheme is being presented for the problem of designing a trajectory tracking controller for non–holonomic mobile robots with differential drive. Based on the robot kinematic equations, an error dynamics controller is being utilized for allowing the robot to follow an a priori defined reference path, with a desired velocity profile. The main novelty of this article stems from the utilization of a gradient based adaptive scheme that is able to adapt the controller’s gain ruling the rising and settling time of the robot and up to now has been ad–hoc selected. The proposed adaptation scheme is based on the robot’s path tracking errors and is able to provide an on–line adjustment for the performance improvement, independently of the selected path type. Multiple experimental test cases, including the movement of the robot on various path profiles, prove the efficacy of the proposed scheme.

Ort, förlag, år, upplaga, sidor
Piscataway, NJ: IEEE Communications Society, 2011. artikel-id 6059092
Serie
I E E E International Conference on Emerging Technologies and Factory Automation. Proceedings, ISSN 1946-0740
Nyckelord [en]
Mobile Robots, Information technology - Automatic control
Nyckelord [sv]
Informationsteknik - Reglerteknik
Nationell ämneskategori
Reglerteknik
Forskningsämne
Reglerteknik
Identifikatorer
URN: urn:nbn:se:ltu:diva-29312DOI: 10.1109/ETFA.2011.6059092Scopus ID: 2-s2.0-80655132055Lokalt ID: 2bfe8d03-0c40-4643-8dfe-cc25f5c1af58ISBN: 978-1-4577-0017-0 (tryckt)ISBN: 978-1-4577-0016-3 (digital)OAI: oai:DiVA.org:ltu-29312DiVA, id: diva2:1002535
Konferens
IEEE International Conference on Emerging Technologies and Factory Automation : 05/09/2011 - 09/09/2011
Anmärkning
Validerad; 2011; 20111123 (andbra)Tillgänglig från: 2016-09-30 Skapad: 2016-09-30 Senast uppdaterad: 2018-07-10Bibliografiskt granskad

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