An Approach to Absolute Position Control of Mobile Robot by PSD Based Robust Control

Toshiharu Sugawara, Toshiyuki Murakami

研究成果: Conference contribution

5 引用 (Scopus)

抄録

The purpose of this research is to realize an absolute position control of mobile robot. Several researches with respect to position control of mobile robot considering its nonholonomic constraints have already reported. They are so powerful, but there are still some issues to improve the control performance. First, the disturbances such as wheel slip, modeling error, and so on deteriorate the position response. So the disturbances suppression should be considered. Second, it is difficult to predetermine the trajectory to reach the desired position because of the nonholonomic constraints. To improve the performance of the position convergence, it is strongly required to develop the trajectory generation algorithm independently of the nonholonomic constraints. In the proposed approach, the absolute position detected by PSD is used to construct the robust position controller. Furthermore, the virtual forces to swing the mobile robot and to modify its orientation are arbitrarily generated to guarantee the convergence to the desired position even if the position response is affected by slip motion or uneven floor. Several numerical and experimental results are shown to verify the validity of the proposed approach.

元の言語English
ホスト出版物のタイトルIECON Proceedings (Industrial Electronics Conference)
ページ2053-2058
ページ数6
3
DOI
出版物ステータスPublished - 2003
外部発表Yes
イベントThe 29th Annual Conference of the IEEE Industrial Electronics Society - Roanoke, VA
継続期間: 2003 11 22003 11 6

Other

OtherThe 29th Annual Conference of the IEEE Industrial Electronics Society
Roanoke, VA
期間03/11/203/11/6

Fingerprint

Position control
Robust control
Mobile robots
Trajectories
Wheels
Controllers

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

これを引用

Sugawara, T., & Murakami, T. (2003). An Approach to Absolute Position Control of Mobile Robot by PSD Based Robust Control. : IECON Proceedings (Industrial Electronics Conference) (巻 3, pp. 2053-2058) https://doi.org/10.1109/IECON.2003.1280559

An Approach to Absolute Position Control of Mobile Robot by PSD Based Robust Control. / Sugawara, Toshiharu; Murakami, Toshiyuki.

IECON Proceedings (Industrial Electronics Conference). 巻 3 2003. p. 2053-2058.

研究成果: Conference contribution

Sugawara, T & Murakami, T 2003, An Approach to Absolute Position Control of Mobile Robot by PSD Based Robust Control. : IECON Proceedings (Industrial Electronics Conference). 巻. 3, pp. 2053-2058, The 29th Annual Conference of the IEEE Industrial Electronics Society, Roanoke, VA, 03/11/2. https://doi.org/10.1109/IECON.2003.1280559
Sugawara T, Murakami T. An Approach to Absolute Position Control of Mobile Robot by PSD Based Robust Control. : IECON Proceedings (Industrial Electronics Conference). 巻 3. 2003. p. 2053-2058 https://doi.org/10.1109/IECON.2003.1280559
Sugawara, Toshiharu ; Murakami, Toshiyuki. / An Approach to Absolute Position Control of Mobile Robot by PSD Based Robust Control. IECON Proceedings (Industrial Electronics Conference). 巻 3 2003. pp. 2053-2058
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