On the adaptive performance improvement of a trajectory tracking controller for non-holonomic mobile robots

John Arvanitakis, George Nikolakopoulos, Demetris Zermas, Anthony Tzes

Research output: Chapter in Book/Report/Conference proceedingConference proceeding

Abstract

In this article a novel performance improvement scheme is being presented for the problem of designing a trajectory tracking controller for non-holonomic mobile robots with differential drive. Based on the robot kinematic equations, an error dynamics controller is being utilized for allowing the robot to follow an a priori defined reference path, with a desired velocity profile. The main novelty of this article stems from the utilization of a gradient based adaptive scheme that is able to adapt the controller's gain ruling the rising and settling time of the robot and up to now has been ad-hoc selected. The proposed adaptation scheme is based on the robot's path tracking errors and is able to provide an on-line adjustment for the performance improvement, independently of the selected path type. Multiple experimental test cases, including the movement of the robot on various path profiles, prove the efficacy of the proposed scheme.
Original languageEnglish
Title of host publicationProceedings of 2011 IEEE 16th Conference on Emerging Tecnologies & Factory Automation ETFA2011
EditorsZoubir Mammeri, Paul Sabatier
PublisherIEEE
Pages1-7
Number of pages7
ISBN (Print)9781457700187
DOIs
Publication statusPublished - 2011
EventIEEE 16th Conference on Emerging Technologies & Factory Automation - Toulouse, France
Duration: 5 Sep 20119 Sep 2011
Conference number: 16

Conference

ConferenceIEEE 16th Conference on Emerging Technologies & Factory Automation
Abbreviated titleETFA 2011
CountryFrance
CityToulouse
Period5/09/119/09/11

Fingerprint

Mobile robots
Trajectories
Robots
Controllers
Kinematics

Keywords

  • Mobile robots
  • Trajectory
  • Mathematical model
  • Equations
  • Convergence
  • Tracking

Cite this

Arvanitakis, J., Nikolakopoulos, G., Zermas, D., & Tzes, A. (2011). On the adaptive performance improvement of a trajectory tracking controller for non-holonomic mobile robots. In Z. Mammeri, & P. Sabatier (Eds.), Proceedings of 2011 IEEE 16th Conference on Emerging Tecnologies & Factory Automation ETFA2011 (pp. 1-7). IEEE. https://doi.org/10.1109/ETFA.2011.6059092

On the adaptive performance improvement of a trajectory tracking controller for non-holonomic mobile robots. / Arvanitakis, John; Nikolakopoulos, George; Zermas, Demetris; Tzes, Anthony.

Proceedings of 2011 IEEE 16th Conference on Emerging Tecnologies & Factory Automation ETFA2011. ed. / Zoubir Mammeri; Paul Sabatier. IEEE, 2011. p. 1-7.

Research output: Chapter in Book/Report/Conference proceedingConference proceeding

Arvanitakis, J, Nikolakopoulos, G, Zermas, D & Tzes, A 2011, On the adaptive performance improvement of a trajectory tracking controller for non-holonomic mobile robots. in Z Mammeri & P Sabatier (eds), Proceedings of 2011 IEEE 16th Conference on Emerging Tecnologies & Factory Automation ETFA2011. IEEE, pp. 1-7, IEEE 16th Conference on Emerging Technologies & Factory Automation, Toulouse, France, 5/09/11. https://doi.org/10.1109/ETFA.2011.6059092
Arvanitakis J, Nikolakopoulos G, Zermas D, Tzes A. On the adaptive performance improvement of a trajectory tracking controller for non-holonomic mobile robots. In Mammeri Z, Sabatier P, editors, Proceedings of 2011 IEEE 16th Conference on Emerging Tecnologies & Factory Automation ETFA2011. IEEE. 2011. p. 1-7 https://doi.org/10.1109/ETFA.2011.6059092
Arvanitakis, John ; Nikolakopoulos, George ; Zermas, Demetris ; Tzes, Anthony. / On the adaptive performance improvement of a trajectory tracking controller for non-holonomic mobile robots. Proceedings of 2011 IEEE 16th Conference on Emerging Tecnologies & Factory Automation ETFA2011. editor / Zoubir Mammeri ; Paul Sabatier. IEEE, 2011. pp. 1-7
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