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題 名 | A Practical Iterative Learning Path-Following Control of an Omni-Directional Vehicle |
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作 者 | Chen,Yang Quan; Moore,Kevin L.; | 書刊名 | Asian Journal of Control |
卷 期 | 4:1 2002.03[民91.03] |
頁 次 | 頁90-98 |
分類號 | 448.942 |
關鍵詞 | Iterative learning control; ILC; Local symmetrical double-integration; LSI[feb4]; Convergence analysis; Controller design and tuning; Path following; Omni-directional vehicle; ODV; Mobile robot; |
語 文 | 英文(English) |
英文摘要 | A new practical iterative learning control (ILC) updating law is proposed to improve the path following accuracy for an omni-directional autonomous mobile robot. The ILC scheme is applied as a feedforward controller to the existing feedback controller. By using the local symmetrical double-integral of the feedback control signal of the previous iteration, the ILC updating law takes a simple form with only two design parameters: the learning gain and the range of local integration. Convergence analysis is presented together with a design procedure. Simulation results on a difficult maneuver are presented to illustrate the effectiveness of the proposed simple and yet practical scheme. The simulation is based on the model of a novel robotic platform, the Utah State University (USU) Omni-Directional Vehicle (ODV), which uses multiple "smart wheels," whose speed and direction can be independently controlled through dedicated processors for each wheel. |
本系統中英文摘要資訊取自各篇刊載內容。