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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 763Base Algorithms of the Direct Adaptive...

Base Algorithms of the Direct Adaptive Position-Path Control for Mobile Objects Positioning

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Abstract:

Problem of a mobile object positioning in the presence of determinate disturbances is considered in this paper. A mobile object is described by kinematics and dynamics equations of a solid body in three dimensional space. The control inputs of the mobile object are forces and torques. Design of adaptive control is based on position-path control method for mobile objects. In this article two algorithms of the adaptive position-path control are developed. The first algorithm is adaptive position-path control with integration component and a reference model. The second algorithm is adaptive position-path control with a reference model and an extended mobile robot model. Block diagram of the direct adaptive position-path control system with a reference model is suggested. Design procedures of the adaptive position-path control systems and stability analysis of the closed-loop systems are presented. Computer simulation results of the designed adaptive closed-loop systems with both constant and variable disturbances are presented. On base of the analysis and modeling results conclusions are provided.

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Periodical:

Applied Mechanics and Materials (Volume 763)

Pages:

110-119

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.763.110

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Online since:

May 2015

Authors:

Viacheslav Pshikhopov*, Mikhail Medvedev, Victor Krukhmalev, Victor Shevchenko

Keywords:

Adaptive Control, Mobile Object, Position-Path Control, Reference Model

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© 2015 Trans Tech Publications Ltd. All Rights Reserved

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