NDLI: Adaptive self-tuning path control system for an autonomous mobile robot

Content Provider	IEEE Xplore Digital Library
Author	Tarin, C. Brugger, H. Tibken, B. Hofer, E.P.
Copyright Year	1999
Description	Author affiliation: Dept. of Math. Control & Microtechnol., Ulm Univ., Germany (Tarin, C.)
Abstract	We consider the path control problem for the autonomous mobile robot B21. In particular we define the reference paths as time indexed functions. The error between the actual position and the reference path is described by a nonlinear time varying multivariable state space model. We propose an adaptive self-tuning control system taking into account the properties of the obtained state space model. We concentrate especially on the control design block. For every iteration of the outer control loop a nonlinear transformation of the state space system into a canonical form must be carried out. Afterwards we use the pole assignment method to design a controller. We have implemented the designed control system on the real platform B21. Several experiments have been carried out where it has been demonstrated that the system requirements are fulfilled. The closed-loop system accurately follows the reference path. As expected, initial disturbances are eliminated and the reference path is caught up. Even reference paths with very high dynamics are followed accurately by the closed-loop system after the transient oscillations and no tracking error remains.
Starting Page	3886
Ending Page	3887
File Size	211614
Page Count	2
File Format	PDF
ISBN	0780352505
ISSN	01912216
DOI	10.1109/CDC.1999.827964
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-12-07
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Programmable control Adaptive control Control systems State-space methods Mobile robots Adaptive systems Control system synthesis Control design Nonlinear control systems Design methodology
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

DHP Adaptive Critic Motion Control of Autonomous Wheeled Mobile Robot

A reinforcement learning with adaptive state space recruitment strategy for real autonomous mobile robots

Adaptive backstepping control of a wheeled mobile robot

Study on Adaptive Path Planning for Mobile Robot Based on Q Learning

Accumulated effect parameter tuning method for geometrical path tracking of wheeled mobile robots

Image-based visual adaptive tracking control of nonholonomic mobile robots

An autonomous mobile grasping system using visual servoing and nonlinear model predictive control

Stochastic fuzzy control for an autonomous mobile robot

Model Reference Adaptive Path Following for Wheeled Mobile Robots

Adaptive self-tuning path control system for an autonomous mobile robot

Similar Documents

DHP Adaptive Critic Motion Control of Autonomous Wheeled Mobile Robot

A reinforcement learning with adaptive state space recruitment strategy for real autonomous mobile robots

Adaptive backstepping control of a wheeled mobile robot

Study on Adaptive Path Planning for Mobile Robot Based on Q Learning

Accumulated effect parameter tuning method for geometrical path tracking of wheeled mobile robots

Image-based visual adaptive tracking control of nonholonomic mobile robots

An autonomous mobile grasping system using visual servoing and nonlinear model predictive control

Stochastic fuzzy control for an autonomous mobile robot

Model Reference Adaptive Path Following for Wheeled Mobile Robots

Adaptive self-tuning path control system for an autonomous mobile robot