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
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.
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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.
Vol. 22, No. 10, pp. 2955~3252
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