International Journal of Control, Automation, and Systems

  • 제5권3호
  • /
  • Pages.343-348
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  • 2007
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  • 1598-6446(pISSN)
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  • 2005-4092(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지

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

  • Ahn, Hyo-Sung (Intelligent Robot Research Division, Electronics and Telecommunications Research Institute (ETRI)) ;
  • Chen, YangQuan (Dept. of Electrical and Computer Engineering, Utah State University) ;
  • Yu, Won-Pil (Intelligent Robot Research Division, Electronics and Telecommunications Research Institute (ETRI))
  • 발행 : 2007.06.30
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초록

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.

키워드

참고문헌

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