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Adaptive Flux Observers and Rotor Speed Sensor Fault Detection in Induction Motors Read chapter Read first chapter

2014 | OriginalPaper | Chapter

11. A Combined Direct and Indirect Adaptive Control Scheme for a Wheeled Mobile Robot using Multiple Models

Authors : Altan Onat, Metin Ozkan

Published in: Informatics in Control, Automation and Robotics

Publisher: Springer International Publishing

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Abstract

This chapter presents a method about trajectory tracking control of a nonholonomic wheeled mobile robot. The main focus of the chapter is to improve the transient response for the trajectory tracking control of mobile robots including dynamic parameter uncertainties. An adaptive combined direct and indirect control scheme is used for compensation of tracking errors in case of dynamic parameter uncertainties. The transient behavior for the adaptive tracking control is improved by a multiple models approach. The overall control system includes both a kinematic and dynamic controller. The kinematic controller produces linear and angular velocities required for mobile robot to track desired trajectory. The combined direct and indirect adaptive dynamic controller with adaptive multiple identification models takes these velocities as inputs and produces torques that will be applied to the robot. Simulation results indicate effectiveness of the proposed control scheme.

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Metadata
Title
A Combined Direct and Indirect Adaptive Control Scheme for a Wheeled Mobile Robot using Multiple Models
Authors
Altan Onat
Metin Ozkan
Copyright Year
2014
Book
Informatics in Control, Automation and Robotics

Print ISBN: 978-3-319-03499-7

Electronic ISBN: 978-3-319-03500-0

Copyright Year: 2014

DOI
https://doi.org/10.1007/978-3-319-03500-0_11