Adaptive Motion Control of a Mobile Wheeled Robot Taking into Account the Nonideality of the Drives

Adaptive Motion Control of a Mobile Wheeled Robot Taking into Account the Nonideality of the Drives

A method of mathematical modeling is used to study the controlled motion of a wheeled mobile robot in the presence of parametric uncertainties and uncontrolled errors in the formation of control torques applied to the wheels by drives. An adaptive control algorithm is proposed that allows the robot...

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Veröffentlicht in:Journal of computer & systems sciences international 2022-10, Vol.61 (5), p.868-883
1. Verfasser: Alhaddad, Muhammad
Format: Artikel
Sprache:eng
Schlagworte:
Adaptive algorithms
Adaptive control
Control
Control theory
Engineering
Mechatronics
Motion control
Robot dynamics
Robotics
Uncertainty
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Beschreibung
Zusammenfassung:A method of mathematical modeling is used to study the controlled motion of a wheeled mobile robot in the presence of parametric uncertainties and uncontrolled errors in the formation of control torques applied to the wheels by drives. An adaptive control algorithm is proposed that allows the robot to accurately track the specified program motion in the presence of uncertainties.
ISSN:1064-2307
1555-6530
DOI:10.1134/S1064230722050033