Title :
Adaptive tracking and regulation of a wheeled mobile robot with controller/update law modularity
Author :
Dixon, W.E. ; de Queiroz, M.S. ; Dawson, D.M. ; Flynn, T.J.
Author_Institution :
Eng. Sci. & Tech. Div.-Robotics, Oak Ridge Nat. Lab., TN, USA
Abstract :
A new adaptive controller is developed for wheeled mobile robots with parametric uncertainty in the dynamic model. The main theoretical contribution is the modular manner in which the control law and parameter update law are designed. This feature allows for design flexibility in the selection of the update law, and can be exploited to improve the transient response of the adaptive controller. The proposed controller also has the important feature of being applicable to both the tracking and regulation problems. The modularity of the adaptive controller is experimentally demonstrated on a K2A Cybermotion mobile robot that has been modified to allow for the implementation of torque-level control inputs. In particular, the adaptive controller with a gradient update law is evaluated vis-a`-vis a least-squares update law.
Keywords :
Lyapunov methods; adaptive control; control system synthesis; least mean squares methods; mobile robots; robot dynamics; stability; torque control; tracking; transient response; Lyapunov methods; adaptive controller; adaptive regulation; adaptive tracking; control law; cybermotion mobile robot; dynamic model; least squares methods; parametric uncertainty; torque-level control inputs; transient response; update law modularity; wheeled mobile robot dynamics; wheeled mobile robots; Adaptive control; Control systems; Kinematics; Mobile robots; Programmable control; Robot control; Torque control; Uncertainty; Vehicle dynamics; Velocity control;
Journal_Title :
Control Systems Technology, IEEE Transactions on
DOI :
10.1109/TCST.2003.819587