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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 University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.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 (English)In: 2011 IEEE Conference on Emerging Technologies & Factory Automation (ETFA 2011): Toulouse; 5 September - 9 September 2011, Piscataway, NJ: IEEE Communications Society, 2011, article id 6059092Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE Communications Society, 2011. article id 6059092
Series
I E E E International Conference on Emerging Technologies and Factory Automation. Proceedings, ISSN 1946-0740
Keywords [en]
Mobile Robots, Information technology - Automatic control
Keywords [sv]
Informationsteknik - Reglerteknik
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-29312DOI: 10.1109/ETFA.2011.6059092Scopus ID: 2-s2.0-80655132055Local ID: 2bfe8d03-0c40-4643-8dfe-cc25f5c1af58ISBN: 978-1-4577-0017-0 (print)ISBN: 978-1-4577-0016-3 (electronic)OAI: oai:DiVA.org:ltu-29312DiVA, id: diva2:1002535
Conference
IEEE International Conference on Emerging Technologies and Factory Automation : 05/09/2011 - 09/09/2011
Note
Validerad; 2011; 20111123 (andbra)Available from: 2016-09-30 Created: 2016-09-30 Last updated: 2018-07-10Bibliographically approved

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Nikolakopoulos, George

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