Adaptive tracking and regulation of a wheeled mobile robot with controller/update law modularity

被引：71

作者：

Dixon, WE ^{[1
]}

de Queiroz, MS

Dawson, DM

Flynn, TJ

机构：

[1] Oak Ridge Natl Lab, Engn Sci & Tech Div Robot, Oak Ridge, TN 37831 USA

[2] Louisiana State Univ, Dept Mech Engn, Baton Rouge, LA 70803 USA

[3] Clemson Univ, Dept Elect & Comp Engn, Clemson, SC 29634 USA

[4] Sci Applicat Int Corp, Imagery Technol & Syst Div, Tucson, AZ 85711 USA

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2004年 / 12卷 / 01期

基金：

美国国家科学基金会;

关键词：

adaptive control; input-output stability; Lyapunov methods; least squares methods; mobile robot dynamics;

D O I：

10.1109/TCST.2003.819587

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A new adaptive controller is developed for wheeled mobile robots with parametric uncertainty in the dynamic model. The main theoretical contribution is the modular manner in which the control law and parameter update law are designed. This feature allows for design flexibility in the selection of the update law, and can be exploited to improve the transient response of the adaptive controller. The proposed controller also has the important feature of being applicable to both the tracking and regulation problems. The modularity of the adaptive controller is experimentally demonstrated on a K2A Cybermotion mobile robot that has been modified to allow for the implementation of torque-level control inputs. In particular, the adaptive controller with a gradient update law is evaluated vis-A-vis a least-squares update law.

引用

页码：138 / 147

页数：10

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