State-dependent disturbance compensation in low-cost wheeled mobile robots using periodic adaptation

Author

Ahn, Hyo-Sung ; Chen, YangQuan ; Wang, Zhongmin

Author_Institution

Dept. of Electr. & Comput. Eng., Utah State Univ., Logan, UT, USA

fYear

2005

fDate

2-6 Aug. 2005

Firstpage

729

Lastpage

734

Abstract

This paper presents an adaptive controller for the compensation of state-dependent disturbance with unknown amplitude in low-cost wheeled mobile robot servo control. The considered state-dependent disturbance is caused by the friction and the eccentricity between the wheel axis and the motor driver. Our proposed control algorithm guarantees the asymptotical stability for both the velocity and the position tracking. Experiment results show the effectiveness of the adaptive disturbance compensator for the wheeled mobile robot in low velocity diffusion tracking.

Keywords

adaptive control; compensation; mobile robots; servomechanisms; adaptive control; adaptive controller; adaptive disturbance compensator; periodic adaptation; state-dependent disturbance compensation; wheeled mobile robot servo control; Adaptive control; Angular velocity; Friction; Intelligent systems; Mobile robots; Programmable control; Servomechanisms; Servomotors; Servosystems; Wheels; State-dependent disturbance; adaptive control; periodic adaptation; wheeled mobile robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on

Print_ISBN

0-7803-8912-3

Type

conf

DOI

10.1109/IROS.2005.1545330

Filename

1545330