ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 2A1-C06
会議情報
2A1-C06 Active Disturbance Rejection Control of a MY-Wheel-II Assembly(Wheeled Robot/Tracked Vehicle (1))
任 超馬 書根
著者情報
会議録・要旨集 フリー

詳細
抄録
In the kinematic control of mobile robot, the accurate velocity control of each wheel is crucial. In this paper, an active disturbance rejection control is applied to a MY-Wheel-II assembly which is an omnidirectional wheel mechanism. The proposed control method is inherent robust and very easy to be tuned, while requiring little model information about the wheel mechanism. The internal dynamics and external disturbances can be estimated by the extended state observer and compensated in the control signal in real time. Experimental results show that the ADRC achieves definitely much better performance than classical proportional-integral control.
著者関連情報
© 2014 一般社団法人 日本機械学会
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