Design of an Adaptive PD Controller for the Weight-Independent Motion Control of a Mobile Robot | Zendy

Hwan-Joo Kwak | Zendy; Gwi-Tae Park | Zendy

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Design of an Adaptive PD Controller for the Weight-Independent Motion Control of a Mobile Robot

Author(s) -

Hwan-Joo Kwak,

Gwi-Tae Park

Publication year - 2012

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/50981

Subject(s) - mobile robot , computer science , robot , controller (irrigation) , control theory (sociology) , simulation , control (management) , artificial intelligence , agronomy , biology

Previous research on mobile robots has been based on models of mobile robots with invariant weight parameters. However, the most practical mobile robots that bear heavy burdens have varying weights and centres of gravity. This paper suggests a design for an adaptive PD controller that estimates and adapts to the weight‐related parameters of robots that bear varying heavy burdens. Using the suggested adaptive PD controller, the motion of mobile robots can be independent of the weight‐related parameters and the operational performance is confirmed by target tracking simulations

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