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Adaptive position and trajectory control of autonomous mobile robot systems with random friction

Adaptive position and trajectory control of autonomous mobile robot systems with random friction

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  • Author(s): H.C. Cho 1 ; M.S. Fadali 2 ; K.S. Lee 3 ; N.H. Kim 4
    • View affiliations
    • Affiliations: 1: School of Electrical and Electronic Engineering, Ulsan College, Ulsan, South Korea
      2: Department of Electrical and Biomedical Engineering, University of Nevada, Reno, USA
      3: Department of Electrical Engineering, Dong-A University, Busan, South Korea
      4: Department of Control and Instrument Engineering, Pukyong National University, Busan, South Korea
  • Source: Volume 4, Issue 12, December 2010, p. 2733 – 2742
    DOI:  10.1049/iet-cta.2009.0251 , Print ISSN 1751-8644, Online ISSN 1751-8652
© The Institution of Engineering and Technology
Published

The authors present a robust adaptive control approach using model reference adaptive control (MRAC) for autonomous robot systems with random friction. First, a non-linear model of the robot system is approximated by feedback linearisation to derive a nominal control law. Next, a least square observer is constructed for the online estimation of friction dynamics. The authors derive a perturbed system model governing the friction estimation error and design an MRAC control to mitigate its effect. Also, stability conditions for the perturbed system model using the Lyapunov stability theory are derived. The authors demonstrate the success of the proposed control methodology through computer simulation, including a comparison to a traditional controller based on nominal dynamics.

Inspec keywords: nonlinear control systems; linearisation techniques; friction; least squares approximations; robust control; Lyapunov methods; position control; robot dynamics; perturbation techniques; mobile robots; observers; model reference adaptive control systems

Other keywords: perturbed system model; adaptive position control; model reference adaptive control; least square observer; robust control; feedback linearisation; online friction dynamics estimation; adaptive trajectory control; autonomous mobile robot system; Lyapunov stability theory

Subjects: Stability in control theory; Nonlinear control systems; Spatial variables control; Self-adjusting control systems; Mobile robots; Tribology (mechanical engineering); Control system analysis and synthesis methods; Interpolation and function approximation (numerical analysis); Numerical analysis; Robot and manipulator mechanics

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