Adaptive Oscillation Control Scheme for a Wheeled Mobile Robot

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.