Title :
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
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;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351094
