JORDAN Mario Alberto
congresos y reuniones científicas
Performance Comparison between two Adaptive Control Approaches for Wheeled Mobile Robots with Poorly Known Dynamics
JORDAN, MARIO; SCAGLIA, G.; BUSTAMANTE, J.; MUT, V.
Bahía Blanca, RA
Congreso; Jornadas Argentinas de Robótica (JAR08); 2008
Dto. Ing. Eléctrica y de Computadoras, Univ. Nac. del Sur
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.