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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))
Publication Information
International Journal of Control, Automation, and Systems / v.5, no.3, 2007 , pp. 343-348 More about this Journal
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;
Citations & Related Records

Times Cited By Web Of Science : 2  (Related Records In Web of Science)
Times Cited By SCOPUS : 2
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