2A2-A07 Speed Control with Simple Adaptive Control System for Wheel Type Mobile Robot Considering Variation of Road Surface Friction(Wheeled Robot / Tracked Vehicle (2))

2014 ◽  
Vol 2014 (0) ◽  
pp. _2A2-A07_1-_2A2-A07_4
Author(s):  
Kyosuke TERADA ◽  
Masayuki OKUGAWA ◽  
Yoshimitsu KOBAYASHI
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
Mobile Robot ◽  
Speed Control ◽  
Surface Friction ◽  
Road Surface ◽  
Adaptive Control System ◽  
Tracked Vehicle ◽  
Wheeled Robot

Adaptive Speed Control of Wheeled Mobile Robot on Uncertain Road Condition

2016 ◽  
Vol 28 (5) ◽  
pp. 687-694
Author(s):  
Kyosuke Terada ◽  
◽  
Hiroyasu Miura ◽  
Masayuki Okugawa ◽  
Yoshimitsu Kobayashi ◽  
...  
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
Mobile Robot ◽  
Design Method ◽  
Speed Control ◽  
Wheeled Mobile Robot ◽  
Adaptive Control System ◽  
Adjustment Procedure ◽  
Road Condition ◽  
Gain Adjustment

[abstFig src='/00280005/10.jpg' width='300' text='Adaptive speed control for mobile robot' ] This study investigated the effectiveness of a simple adaptive control system used for controlling the dynamics of the driving system of a wheeled mobile robot. This paper describes the design method of a speed control system and the gain adjustment procedure considering a practical application of the simple adaptive control system. Experiments were conducted on two different road conditions, and the results indicated that the rectilinear performance of the wheeled mobile robot improved with the use of the simple adaptive control system. In the case of uncertain road conditions, the simple adaptive control system reduced the deterioration of the control performance effectively.

Fuzzy Control of Tracked Vehicle’s Semi-Active Suspension System Based on LMS

2014 ◽  
Vol 602-605 ◽  
pp. 1313-1316 ◽  
Author(s):  
Xiao Dong Gao ◽  
Liang Gu ◽  
Ji Fu Guan ◽  
Jun Feng Gao
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
Ride Comfort ◽  
Fuzzy Controller ◽  
Active Suspension ◽  
Adaptive Control System ◽  
Vehicle Model ◽  
Tracked Vehicle ◽  
Change Rate ◽  
Set Up

A half tracked vehicle model was established based on LMS, a co-simulation interface between control algorithm of MATLAB and physical model of LMS was set up. Fuzzy controller with PID regulator was proposed to achieve controlling strategy based on half tracked vehicle model. With suspension stroke and its change rate as input parameters of fuzzy controller, the dynamic adjusting parameters of PID controller are acquired through fuzzy controller, then a semi-active suspension vehicle adaptive control system was formed. The simulation result shows that the adaptive control system can effectively coordinate the contradiction acceleration and dynamic travel in different bands, the ride comfort tracked vehicle is significantly improved.

Adaptive Control System based on Linear Control Theory for the Path-Following Problem of a Car-Like Mobile Robot

2012 ◽  
Vol 45 (3) ◽  
pp. 252-257
Author(s):  
J.L. Sanchez-Lopez ◽  
P. Campoy ◽  
M.A. Olivarez-Mendez ◽  
I. Mellado-Bataller ◽  
D. Galindo-Gallego
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
Control Theory ◽  
Mobile Robot ◽  
Path Following ◽  
Linear Control ◽  
Adaptive Control System ◽  
Linear Control Theory

Direct MRAS based An Adaptive Control System for a Two-Wheel Mobile Robot

2015 ◽  
Vol 3 (3) ◽  
pp. 201-207
Author(s):  
Nguyen Duy Cuong ◽  
Gia Thi Dinh ◽  
Tran Xuan Minh
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
Mobile Robot ◽  
Adaptive Control System
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