DocumentCode
3269048
Title
Speed Control of Differentially Driven Wheeled Mobile Robots - Model Based Adaptive Control
Author
Huang, L. ; Ge, S.S. ; Lee, T.H.
Author_Institution
School of Electrical and Electronic Engineering, Singapore Polytechnic, Singapore 139651. E-mail: loulin@sp.edu.sg
fYear
2003
fDate
12-12 June 2003
Firstpage
891
Lastpage
895
Abstract
In this paper, model-based adaptive control is presented for a differentially driven wheeled mobile robot. The controller takes into account of robot dynamics and the coupling between the motions of the two differential wheels. It can achieve better speed tracking than the commonly used model-free PID controller. Simulation studies are carried out to verify the effectiveness of the proposed approaches.
Keywords
Adaptive control; Mobile robots; Motion control; Robot control; Three-term control; Velocity control; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Control and Automation, 2003. ICCA '03. Proceedings. 4th International Conference on
Conference_Location
Montreal, Que., Canada
Print_ISBN
0-7803-7777-X
Type
conf
DOI
10.1109/ICCA.2003.1595151
Filename
1595151
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