tailieunhanh - Direct MRAS based an adaptive control system for a two wheel mobile robot

In this paper, a Model Reference Adaptive Systems (MRAS) based an Adaptive System is proposed to a Two-Wheel Mobile Robot (TWMR). The TWMR is an open-loop unstable, non-linear and multi output system. The main task of this design is to keep the balance of the robot while moving toward the desired position. | Journal of Automation and Control Engineering Vol. 3, No. 3, June 2015 Direct MRAS Based an Adaptive Control System for a Two-Wheel Mobile Robot Nguyen Duy Cuong Electronics Faculty, Thai Nguyen University of Technology, Thai Nguyen City, Viet Nam Email: nguyenduycuong@ Gia Thi Dinh and Tran Xuan Minh Electrical Faculty, Thai Nguyen University of Technology, Thai Nguyen City, Viet Nam Email: {giadinh2206,tranxuanminh}@ Abstract— In this paper, a Model Reference Adaptive Systems (MRAS) based an Adaptive System is proposed to a Two-Wheel Mobile Robot (TWMR). The TWMR is an open-loop unstable, non-linear and multi output system. The main task of this design is to keep the balance of the robot while moving toward the desired position. Firstly, the nonlinear equations of motion for the robot are derived in the Lagrange form. Next, these equations are linearized to obtain two separate linear equations. Finally, two separate adaptive controllers are designed for controlling a balancing angle, and a position. By applying Lyapunov stability theory the adaptive law that is derived in this study is quite simple in its form, robust and converges quickly. Simulation results and analysis show that the proposed adaptive PID controllers have better performance compared to the conventional PID controllers in the sense of robustness against internal and/or external disturbances. TWMR is inherently unstable, it has several advantages since it has only two wheels which require less space and easy navigation on various terrains, turning sharp corners. The TWMR is a common mechatronics case-study and is widely used as a standard setup for testing control algorithms, for example, PID control, full state feedback, neural networks, fuzzy control, genetic algorithms, etc [3]. Conventional PID controllers could be applied to the position control for the TWMR. In general, fixed parameters in a PID controller do not have robust performance for control systems with .

TỪ KHÓA LIÊN QUAN
TÀI LIỆU MỚI ĐĂNG
crossorigin="anonymous">
Đã phát hiện trình chặn quảng cáo AdBlock
Trang web này phụ thuộc vào doanh thu từ số lần hiển thị quảng cáo để tồn tại. Vui lòng tắt trình chặn quảng cáo của bạn hoặc tạm dừng tính năng chặn quảng cáo cho trang web này.