NDLI: Experimental comparison of adaptive controllers for trajectory tracking in agricultural robotics

Content Provider	IEEE Xplore Digital Library
Author	Dorum, J. Utstumo, T. Gravdahl, J.T.
Copyright Year	2015
Description	Author affiliation: Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway (Dorum, J.; Utstumo, T.; Gravdahl, J.T.)
Abstract	This paper describes the development of several controllers to handle a trajectory tracking problem for a differentially wheeled robot. Both simulations and tests on a real robot were performed. A simple kinematic controller has been implemented to calculate desired velocities based on current position and trajectory. In order to also consider the current velocities, i.e. the dynamics of the system, the output of this controller was used as input to a dynamic controller derived from a nonlinear model. The dynamic controller was made adaptive by using an on-line parameter estimation scheme to estimate the unknown parameters of the nonlinear model. Lastly, a direct model reference adaptive controller (MRAC) based on a linear model was derived and implemented as an alternative to the adaptive dynamic controller.
Starting Page	206
Ending Page	212
File Size	2639578
Page Count	7
File Format	PDF
e-ISBN	9781479984817
DOI	10.1109/ICSTCC.2015.7321294
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-10-14
Publisher Place	Romania
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Adaptation models Trajectory tracking Differentially wheeled robots Wheels Kinematics Agricultural robotics Trajectory System identification Mobile robots Adaptive control
Content Type	Text
Resource Type	Article

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Experimental comparison of adaptive controllers for trajectory tracking in agricultural robotics

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