NDLI: Adaptive motor control to aid mobile robot trajectory execution in the presence of changing system parameters

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Adaptive motor control to aid mobile robot trajectory execution in the presence of changing system parameters

Content Provider	IEEE Xplore Digital Library
Author	Adams, M.D.
Copyright Year	1989
Abstract	Most of the mobile robot path planning algorithms presented to date, generate intermediate goal coordinates for a mobile robot to pursue, based upon the local environment and the position of the global target. In response to this, we present a general controller for any vehicle which is driven by changing target vectors and show that the restricted speed (or torque) capabilities of the vehicle can be modeled with a nonlinear saturation element. Although the goal attraction path parameters can be optimized so that a vehicle tracks its target in a near time optimal sense, the effect of motor parameter changes or disturbances to the controlled system upon the path of the robot is noted. When the process gain of the robot's motors change, due to temperature changes, run-in time etc., we show that the trajectory of the mobile robot is momentarily affected, before the closed loop control system again places the robot back on to its correct course. A novel method is presented, which manipulates the effective nonlinear speed saturation element, which models the actual speed or torque limitations of any vehicle, in order to remove this problem. Simple modifications can be applied to the derived control system, so that mobile robot adaptive target tracking can take place. The conditions necessary, which can be exploited to allow the response of a mobile robot to be insensitive to changes in motoring parameters are presented, and the method is demonstrated by purposely inducing process gain changes on a real mobile robot.
Starting Page	894
Ending Page	901
Page Count	8
File Size	224234
File Format	PDF
ISSN	1042296X
Volume Number	14
Issue Number	6
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1998-12-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Programmable control Adaptive control Motor drives Mobile robots Control systems Robot kinematics Vehicle driving Vehicles Target tracking Robot sensing systems
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering

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