Research on an improved cross coupling control algorithm based on disturbance compensation

2016 ◽  
Author(s):  
Junbo Zhang ◽  
Hong Lu ◽  
Shaojun Wang ◽  
Wei Fan ◽  
Yongquan Zhang
Keyword(s):  
Control Algorithm ◽  
Cross Coupling ◽  
Disturbance Compensation ◽  
Cross Coupling Control

scholarly journals Motion Control Analysis of a Mobile Robot

1987 ◽  
Vol 109 (2) ◽  
pp. 73-78 ◽  
Author(s):  
J. Borenstein ◽  
Y. Koren
Keyword(s):  
Motion Control ◽  
Control Algorithm ◽  
Cross Coupling ◽  
Control Analysis ◽  
Robot System ◽  
Orientation Error ◽  
Position Errors ◽  
State Orientation ◽  
Cross Coupling Control ◽  
Computer Controlled

A computer-controlled vehicle that is part of a mobile nursing robot system is described. The vehicle applies a motion control strategy that attempts to avoid slippage and minimize position errors. A cross-coupling control algorithm that guarantees a zero steady-state orientation error (assuming no slippage) is proposed and a stability analysis of the control system is presented. Results of experiments performed on a prototype vehicle verify the theoretical analysis.

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