「運動と振動の制御」シンポジウム講演論文集
Online ISSN : 2424-3000
セッションID: B101
会議情報
B101 進行方向速度計測を用いない車輪型移動ロボットの適応軌道追従制御(OS1 適応学習制御とその応用1)
山本 大貴束 攀峰大屋 勝敬
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会議録・要旨集 フリー

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抄録
In this paper, we propose an improved adaptive trajectory tracking control scheme for wheeled mobile robots without using velocity measurement. At first, a modified tracking error equation is developed. Based on the modified tracking error equation, a modified adaptive tracking controller is developed. The developed controller does not require measurements of longitudinal velocity. In the control system using the controller, robust tracking control can be achieved for uncertainties of the weight, the moment of inertial and the position of gravity center. In addition, even if the characteristics of left and right motors to drive wheels are unknown and different, stable tracking control can be also achieved.
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© 2015 一般社団法人 日本機械学会
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