Regular Papers

International Journal of Control, Automation and Systems 2007; 5(3): 343-348

© The International Journal of Control, Automation, and Systems

Periodic Adaptive Compensation of State-dependent Disturbance in a Digital Servo Motor System

Hyo-Sung Ahn, YangQuan Chen, and Wonpil Yu

ETRI, Korea

Abstract

This paper presents an adaptive controller for the compensation of state-dependent disturbance with unknown amplitude in a digital servo motor system. The state-dependent disturbance is caused by friction and eccentricity between the wheel axis and the motor driver of a mobile robot servo system. The proposed control scheme guarantees an asymptotical stability for both the velocity and position regulation. An experimental result shows the effectiveness of the adaptive disturbance compensator for wheeled-mobile robot in a low velocity diffusion tracking. A comparative experimental study with a simple PI controller is presented.

Keywords Adaptive control, mobile robot, servo motor control, state-dependent disturbance.

Article

Regular Papers

International Journal of Control, Automation and Systems 2007; 5(3): 343-348

Published online June 1, 2007

Copyright © The International Journal of Control, Automation, and Systems.

Periodic Adaptive Compensation of State-dependent Disturbance in a Digital Servo Motor System

Hyo-Sung Ahn, YangQuan Chen, and Wonpil Yu

ETRI, Korea

Abstract

This paper presents an adaptive controller for the compensation of state-dependent disturbance with unknown amplitude in a digital servo motor system. The state-dependent disturbance is caused by friction and eccentricity between the wheel axis and the motor driver of a mobile robot servo system. The proposed control scheme guarantees an asymptotical stability for both the velocity and position regulation. An experimental result shows the effectiveness of the adaptive disturbance compensator for wheeled-mobile robot in a low velocity diffusion tracking. A comparative experimental study with a simple PI controller is presented.

Keywords: Adaptive control, mobile robot, servo motor control, state-dependent disturbance.

IJCAS
May 2024

Vol. 22, No. 5, pp. 1461~1759

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