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

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

Description

Title: Adaptive control system based on lineal control theory for the path-following problem of a car-like mobile robot
Author/s:
  • Sánchez López, José Luis
  • Campoy Cervera, Pascual
  • Olivares Méndez, Miguel Ángel
  • Mellado Bataller, Ignacio
  • Galindo Gallego, David
Item Type: Presentation at Congress or Conference (Article)
Event Title: IFAC Conference on Advances in PID Control (PID'12)
Event Dates: 28/03/2012 - 30/03/2012
Event Location: Brescia, Italy
Title of Book: IFAC Conference on Advances in PID Control (PID'12)
Date: 2012
Subjects:
Freetext Keywords: Adaptive control, Autonomous mobile robots, PID control, Linear control systems
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

Full text

[img]
Preview
PDF - Requires a PDF viewer, such as GSview, Xpdf or Adobe Acrobat Reader
Download (2MB) | Preview

Abstract

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.

More information

Item ID: 19385
DC Identifier: http://oa.upm.es/19385/
OAI Identifier: oai:oa.upm.es:19385
Deposited by: Memoria Investigacion
Deposited on: 02 Feb 2014 11:32
Last Modified: 21 Apr 2016 17:39
  • Logo InvestigaM (UPM)
  • Logo GEOUP4
  • Logo Open Access
  • Open Access
  • Logo Sherpa/Romeo
    Check whether the anglo-saxon journal in which you have published an article allows you to also publish it under open access.
  • Logo Dulcinea
    Check whether the spanish journal in which you have published an article allows you to also publish it under open access.
  • Logo de Recolecta
  • Logo del Observatorio I+D+i UPM
  • Logo de OpenCourseWare UPM