IADO 05364
INSTITUTO ARGENTINO DE OCEANOGRAFIA
Unidad Ejecutora - UE
congresos y reuniones científicas
Título:
Two Approaches to Adaptive Control Applied to a Wheeled Mobile Robot
Autor/es:
JORDAN, MARIO; SCAGLIA, G.; BUSTAMANTE, J.; MUT, V.
Lugar:
Santa Fe, Argentina
Reunión:
Simposio; Simposio Argentino de Tecnología (AST 2008); 2008
Institución organizadora:
Sociedad Argentina de Informática (SADIO)
Resumen:
In this work two clases of adaptive algorithms are presented and compared in performance for the trajectory tracking problem applied to wheeled mobile robots. Both approaches assume unknown dynamics parameters, and so, large uncertainties in the dynamics are embraced. While the first algorithm is completely adaptive with adaptation laws, the other one is based on interpolations on trigonometric functions of the dynamics. Moreover, both demand different amount of structural information for the controller design. A comparative study of control performance is carried out on a case study with a wheeled mobile robot Pionner 3-DX.
