A New Adaptive Tracking Control For Wheeled Mobile Robot

Author

Barzamini, R. ; Yazdizadeh, A.R. ; Rahmani, A.H.

Author_Institution

Islamic Azad Unversity, Dezful

fYear

2006

fDate

1-3 June 2006

Firstpage

1

Lastpage

6

Abstract

Wheeled mobile robots are considered as the most widely used class of mobile robots. This is due to their fast maneuvering, simple controllers, and energy saving characteristics. A new adaptive algorithm for tracking control of these robots is presented in this paper which is robust against external and internal disturbances. A combination of model reference adaptive control and gain scheduling is used to control the robot motion. The simulation results indicate that the designed controller will preserve the robot on its desired track even though the disturbance level is of high value

Keywords

mobile robots; model reference adaptive control systems; motion control; tracking; adaptive tracking control; gain scheduling; model reference adaptive control; robot motion control; wheeled mobile robot; Adaptive algorithm; Adaptive control; Control systems; Kinematics; Mobile robots; Programmable control; Robot control; Robust control; Uncertain systems; Velocity control; Adaptive; Tracking; Wheeled Mobile Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Automation and Mechatronics, 2006 IEEE Conference on

Conference_Location

Bangkok

Print_ISBN

1-4244-0024-4

Electronic_ISBN

1-4244-0025-2

Type

conf

DOI

10.1109/RAMECH.2006.252750

Filename

4018866