Trajectory Tracking Control of a Flexible Mobile Robot using Disturbance Observer | Zendy

Hiroyuki Kojima | Zendy; Toshihilo Hashimoto | Zendy; Sadao Shimoyama | Zendy

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Trajectory Tracking Control of a Flexible Mobile Robot using Disturbance Observer

Author(s) -

Hiroyuki Kojima,

Toshihilo Hashimoto,

Sadao Shimoyama

Publication year - 1998

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.1998.p0272

Subject(s) - feed forward , control theory (sociology) , trajectory , controller (irrigation) , mobile robot , computer science , control engineering , tracking (education) , observer (physics) , compensation (psychology) , motion control , robot , engineering , control (management) , artificial intelligence , psychology , agronomy , pedagogy , physics , quantum mechanics , astronomy , psychoanalysis , biology

This paper describes trajectory tracking control for a flexible mobile robot using a disturbance observer. The robot consists of a wheeled mobile mechanism and a flexible structure of four flexible beams and a work table. Trajectory tracking control is compound control of a disturbance observer and feedforward compensation two-degree-of-freedom (2DOF) controller. The feedforward compensation 2DOF controller consists of a feedforward controller and a state feedback controller. Experimental and numerical simulation results confirmed that trajectory tracking control of the robot work table is possible with trajectory control using the disturbance observer.

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