Abstract
In this paper, a new adaptive coupling control algorithm is developed to synchronize motions of two driving wheels of a differential mobile robot so that the robot maintains in the desired trajectory path. Unlike considerable approaches in the literature, in this study motions of driving wheels instead of the robot configuration are directly controlled in a synchronous manner. This strategy avoids the involvement of nonholonomic constraints in the control design, and therefore simplifies the practical implementation significantly. The proposed controller incorporates the cross-coupling technology into adaptive control architecture, and guarantees asymptotic convergence to zero of both position tracking errors and the synchronization error. Experiments have been conducted to verify the effectiveness of the proposed control approach.
| Original language | English |
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| Title of host publication | Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002 |
| Pages | 1138-1143 |
| Publication status | Published - 2002 |
| Event | Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARC 2002 - Singapore, Singapore Duration: 2 Dec 2002 → 5 Dec 2002 |
Conference
| Conference | Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARC 2002 |
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| Country/Territory | Singapore |
| City | Singapore |
| Period | 2/12/02 → 5/12/02 |