Adaptive Oscillation Control Scheme for a Wheeled Mobile Robot

被引：0

作者：

Zhou, Bo ^{[1
]}

Eto, Tasuku ^{[1
]}

Shibata, Hiroshi ^{[1
]}

Oya, Masahiro ^{[1
]}

机构：

[1] Kyushu Inst Technol, Dept Mech & Control Engn, Tobata Ku, 1-1 Sensui Cho, Kitakyushu, Fukuoka, Japan

来源：

PROCEEDINGS OF THE SEVENTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 17TH '12) | 2012年

关键词：

Wheeled mobile robot; Oscillation; Adaptive control;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In the case when wheeled mobile robots run fast on rough terrain, due to the robot body acceleration and oscillation, sensors mounted on the robot body may be destroyed. In this paper, we propose a scheme to reduce the body acceleration at any specified location on the robot body. In the proposed scheme, a combined ideal model is designed so that the location where acceleration performance becomes best can be moved easily by setting only two design parameters. Then, an adaptive controller is developed so that the behavior of the actual mobile robot tracks that of the combined ideal model. It is ascertained by numerical simulations that the body acceleration at any specified location can be improved easily.

引用

页码：85 / 88

页数：4

共 4 条

[1]

Hoffmann GM, 2007, P AMER CONTR CONF, P3910

[2] Trajectory control of a four-wheel skid-steering vehicle over soft terrain using a physical interaction model [J].

Lhomme-Desages, D. ;

Grand, Ch. ;

Guinot, J-C. .

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10, 2007, :1164-+

[3]

Terupally CR, 2007, P AMER CONTR CONF, P6017

[4] Robust oscillation control of wheeled mobile robots [J].

Tsuchida, Yasutaka ;

Oya, Masahiro ;

Takagi, Natsuki ;

Wang, Qiang .

ARTIFICIAL LIFE AND ROBOTICS, 2009, 14 (03) :357-361

← 1 →