TY - GEN
T1 - On the adaptive performance improvement of a trajectory tracking controller for non-holonomic mobile robots
AU - Arvanitakis, John
AU - Nikolakopoulos, George
AU - Zermas, Demetris
AU - Tzes, Anthony
PY - 2011
Y1 - 2011
N2 - In this article a novel performance improvement scheme is being presented for the problem of designing a trajectory tracking controller for non-holonomic mobile robots with differential drive. Based on the robot kinematic equations, an error dynamics controller is being utilized for allowing the robot to follow an a priori defined reference path, with a desired velocity profile. The main novelty of this article stems from the utilization of a gradient based adaptive scheme that is able to adapt the controller's gain ruling the rising and settling time of the robot and up to now has been ad-hoc selected. The proposed adaptation scheme is based on the robot's path tracking errors and is able to provide an on-line adjustment for the performance improvement, independently of the selected path type. Multiple experimental test cases, including the movement of the robot on various path profiles, prove the efficacy of the proposed scheme.
AB - In this article a novel performance improvement scheme is being presented for the problem of designing a trajectory tracking controller for non-holonomic mobile robots with differential drive. Based on the robot kinematic equations, an error dynamics controller is being utilized for allowing the robot to follow an a priori defined reference path, with a desired velocity profile. The main novelty of this article stems from the utilization of a gradient based adaptive scheme that is able to adapt the controller's gain ruling the rising and settling time of the robot and up to now has been ad-hoc selected. The proposed adaptation scheme is based on the robot's path tracking errors and is able to provide an on-line adjustment for the performance improvement, independently of the selected path type. Multiple experimental test cases, including the movement of the robot on various path profiles, prove the efficacy of the proposed scheme.
UR - http://www.scopus.com/inward/record.url?scp=80655132055&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=80655132055&partnerID=8YFLogxK
U2 - 10.1109/ETFA.2011.6059092
DO - 10.1109/ETFA.2011.6059092
M3 - Conference contribution
AN - SCOPUS:80655132055
SN - 9781457700187
T3 - IEEE International Conference on Emerging Technologies and Factory Automation, ETFA
BT - Proceedings of 2011 IEEE 16th Conference on Emerging Technologies and Factory Automation, ETFA 2011
T2 - 2011 IEEE 16th Conference on Emerging Technologies and Factory Automation, ETFA 2011
Y2 - 5 September 2011 through 9 September 2011
ER -