A model-reference adaptive motion controller for a differential-drive mobile robot

Author

Feng, L. ; Koren, Y. ; Borenstein, J.

Author_Institution

Dept. of Mech. Eng. & Appl. Mech., Michigan Univ., Ann Arbor, MI, USA

fYear

1994

fDate

8-13 May 1994

Firstpage

3091

Abstract

This paper describes the design and implementation of a model-reference adaptive motion controller for a differential-drive mobile robot. This controller uses absolute position information to modify control parameters in real time to compensate for motion errors. Robot motion errors are classified into internal and external errors. A cross-coupling control method is used to compensate for the internal errors that can be detected by wheel encoders. The adaptive controller provides compensation for external errors. The adaptive controller is analyzed, and its stability and convergence are discussed. Experiments are conducted to evaluate the control system and the results show significant improvements over conventional controllers

Keywords

compensation; convergence; mobile robots; model reference adaptive control systems; path planning; position control; stability; absolute position information; compensation; convergence; cross-coupling control method; differential-drive mobile robot; external errors; internal errors; model-reference adaptive motion controller; motion errors; stability; wheel encoders; Adaptive control; Control systems; Error correction; Mobile robots; Motion control; Programmable control; Robot control; Robot motion; Stability analysis; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Conference_Location

San Diego, CA

Print_ISBN

0-8186-5330-2

Type

conf

DOI

10.1109/ROBOT.1994.351094

Filename

351094