Controle adaptativo comutado de robos moveis

CELSO DE LA CRUZ; TEODIANO FREIRE BASTOS; RICARDO CARELLI

Juiz de Fora, Minas Gerais, Brasil

Congreso; XVII Congresso Brasileiro de Automatica, CBA; 2008

Asociación Brasilera de Control Automático

A novel tracking and positioning adaptive control for mobile robots is designed using Lyapunov theory. It is novel in the sense of using a dynamic model that uses linear and angular reference velocities for the ¯nal actuation of the robot as is usually found in commercial robots. A switching control that changes the parameter updating law is used to improve the adaptive control in the sense of reducing rapid accelerations and avoiding the e®ects of parameter drift. Experimental results show good performance of the adaptive control and its improvement with the switching control.