Parametric Identification and Controller Design for a Differential-Drive Mobile Robot
| Autor: | Tiago Giacomelli Alves, Walter Fetter Lages, Renato Ventura Bayan Henriques |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
Recursive least squares filter
0209 industrial biotechnology Computer science 020208 electrical & electronic engineering Angular velocity Mobile robot 02 engineering and technology Computer Science::Robotics Identification (information) 020901 industrial engineering & automation Control and Systems Engineering Control theory Control system 0202 electrical engineering electronic engineering information engineering Robot State (computer science) Actuator |
| Zdroj: | IFAC-PapersOnLine. 51:437-442 |
| ISSN: | 2405-8963 |
| Popis: | This paper presents a dynamic model for a differential drive mobile robot, including the actuators effects and a methodology to parameterize the model in a linear fashion, enabling the use of the recursive least squares algorithm to identify the system parameters. In addition, two control laws are designed. The inner control loop linearizes the dynamics of the mobile robot using a linearizing state feedback and then an outer control loop tracks the linear and angular velocity references by using linear controllers. Identification and control results are shown for a real robot. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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