Adaptive control system based on lineal control theory for the path-following problem of a car-like mobile robot

Sánchez López, José Luis; Campoy Cervera, Pascual; Olivares Méndez, Miguel Ángel; Mellado Bataller, Ignacio y Galindo Gallego, David (2012). Adaptive control system based on lineal control theory for the path-following problem of a car-like mobile robot. En: "IFAC Conference on Advances in PID Control (PID'12)", 28/03/2012 - 30/03/2012, Brescia, Italy.

Descripción

Título: Adaptive control system based on lineal control theory for the path-following problem of a car-like mobile robot
Autor/es:
  • Sánchez López, José Luis
  • Campoy Cervera, Pascual
  • Olivares Méndez, Miguel Ángel
  • Mellado Bataller, Ignacio
  • Galindo Gallego, David
Tipo de Documento: Ponencia en Congreso o Jornada (Artículo)
Título del Evento: IFAC Conference on Advances in PID Control (PID'12)
Fechas del Evento: 28/03/2012 - 30/03/2012
Lugar del Evento: Brescia, Italy
Título del Libro: IFAC Conference on Advances in PID Control (PID'12)
Fecha: 2012
Materias:
Palabras Clave Informales: Adaptive control, Autonomous mobile robots, PID control, Linear control systems
Escuela: E.T.S.I. Industriales (UPM)
Departamento: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

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Resumen

The objective of this paper is to design a path following control system for a car-like mobile robot using classical linear control techniques, so that it adapts on-line to varying conditions during the trajectory following task. The main advantages of the proposed control structure is that well known linear control theory can be applied in calculating the PID controllers to full control requirements, while at the same time it is exible to be applied in non-linear changing conditions of the path following task. For this purpose the Frenet frame kinematic model of the robot is linearised at a varying working point that is calculated as a function of the actual velocity, the path curvature and kinematic parameters of the robot, yielding a transfer function that varies during the trajectory. The proposed controller is formed by a combination of an adaptive PID and a feed-forward controller, which varies accordingly with the working conditions and compensates the non-linearity of the system. The good features and exibility of the proposed control structure have been demonstrated through realistic simulations that include both kinematics and dynamics of the car-like robot.

Más información

ID de Registro: 19385
Identificador DC: http://oa.upm.es/19385/
Identificador OAI: oai:oa.upm.es:19385
Depositado por: Memoria Investigacion
Depositado el: 02 Feb 2014 11:32
Ultima Modificación: 21 Abr 2016 17:39
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