抄録
This study addresses the problem of the variation of road surface friction for a wheel type mobile robot. The dynamics of wheel type mobile robot changes owing to the influence of the variation of the road surface friction. In case of the control system by using the fixed gain, it is desirable to design a feedback gain for every the variation of the road. We will propose the speed control method adopting the simple adaptive control (SAC) in order to adapt to the variation of road surface friction. Numerical and experimental results demonstrated the usefulness of the SAC for the speed control of the wheel type mobile robot.
