Memorias de investigación
Communications at congresses:
Adaptive Control System based on Lineal Control Theory for the Path-Following Problem of a Car-Like Mobile Robot
Year:2012

Research Areas
  • Control

Information
Abstract
The objective of this paper is to design a path following control system for a car-like mobile robot using classical linear control techniques, so that it adapts on-line to varying conditions during the trajectory following task. The main advantages of the proposed control structure is that well known linear control theory can be applied in calculating the PID controllers to ful?l control requirements, while at the same time it is exible to be applied in non-linear changing conditions of the path following task. For this purpose the Frenet frame kinematic model of the robot is linearised at a varying working point that is calculated as a function of the actual velocity, the path curvature and kinematic parameters of the robot, yielding a transfer function that varies during the trajectory. The proposed controller is formed by a combination of an adaptive PID and a feed-forward controller, which varies accordingly with the working conditions and compensates the non-linearity of the system. The good features and exibility of the proposed control structure have been demonstrated through realistic simulations that include both kinematics and dynamics of the car-like robot
International
Si
Congress
IFAC Conference on Advances in PID Control, PID'12
960
Place
Brescia, Italy,
Reviewers
Si
ISBN/ISSN
CDP08UPM
Start Date
28/03/2012
End Date
30/03/2012
From page
0
To page
0
IFAC Conference on Advances in PID Control, PID'12
Participants
  • Autor: Pascual Campoy Cervera UPM
  • Autor: Ignacio Mellado Bataller UPM
  • Autor: David Galindo Gallego UPM
  • Autor: Miguel Ángel Olivares Mendez UPM

Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Computer Vision
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial