抄録
This study addresses the problem of robust adaptive control for uncertain road surface for wheel type mobile robot. The dynamic characteristic of wheel type mobile robot changes owing to the influence of the road surface variation and the changes of the rolling resistance depending on the air pressure of tires. It is necessary to adjust controller gains in case of implementation of the static control system. We propose the robust speed control method adopting simple adaptive control (SAC) in order to adapt to road surface variation. Experimental results demonstrated the effectiveness of the SAC of the wheel type mobile robot.
