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Pitkanen, V., Halonen, V., Kemppainen, A., & Roning, J. (2019). Path Following Controller for Differentially Driven Planar Robots with Limited Torques and Uncertain and Changing Dynamics. 2019 International Conference on Robotics and Automation (ICRA). Presented at the 2019 International Conference on Robotics and Automation (ICRA). https://doi.org/10.1109/icra.2019.8794198

Path following controller for differentially driven planar robots with limited torques and uncertain and changing dynamics

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Author: Pitkänen, Ville1; Halonen, Veikko1; Kemppainen, Anssi1;
Organizations: 1Biomimetics and Intelligent Systems Group, University of Oulu, Finland
Format: article
Version: accepted version
Access: open
Online Access: PDF Full Text (PDF, 0.9 MB)
Persistent link: http://urn.fi/urn:nbn:fi-fe2019121146738
Language: English
Published: Institute of Electrical and Electronics Engineers, 2019
Publish Date: 2019-12-11
Description:

Abstract

This paper presents a path following controller that is suitable for asymmetrical planar robots with significant mass and limited motor torques. the controller is resistant against environmental forces, and inaccurate estimates of robot’s inertia, by estimating their effects with unscented kalman filter. the controller outputs wheel torque commands which take in account the motor torque limits and given relative priority of internal control elements. the method presented is thoroughly explained and the simulation results demonstrate the performance of the controller.

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Series: IEEE International Conference on Robotics and Automation
ISSN: 2152-4092
ISSN-E: 2379-9552
ISSN-L: 2152-4092
ISBN: 978-1-5386-6027-0 978-1-5386-6026-3
ISBN Print: 978-1-5386-8176-3
Pages: 7522 - 7528
DOI: 10.1109/ICRA.2019.8794198
OADOI: https://oadoi.org/10.1109/ICRA.2019.8794198
Host publication: 2019 International Conference on Robotics and Automation (ICRA)
Conference: IEEE International Conference on Robotics and Automation
Type of Publication: A4 Article in conference proceedings
Field of Science: 113 Computer and information sciences
Subjects:
Acceleration
Force
Kalman filters
Mobile robots
Robot kinematics
Torque
Wheels
asymmetrical planar robots
differentially driven planar robots
environmental forces
internal control elements
limited motor torques
mobile robots
motor torque limits
nonlinear filters
robot dynamics
robot inertia
torque control
unscented Kalman filter
wheel torque commands
Article
Funding: The authors would like to thank the Finnish Cultural Foundation, University of Oulu Graduate School (UniOGs) and Infotech Oulu for making this research possible.
Copyright information: © 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.