Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
ADAPTIVE CONTROL APPLIED TO TRAJECTORY TRACKING OF AN AUTONOMOUS ROBOT
Submission Author:
Rogério Sales Gonçalves , MG , Brazil
Co-Authors:
Arthur Henrique Iasbeck, Murilo Mendonça Venâncio, Rogério Sales Gonçalves
Presenter: Arthur Henrique Iasbeck
doi://10.26678/ABCM.COBEM2019.COB2019-0203
Abstract
This paper aims the design of a trajectory controller for an autonomous robot through the implementation of STR (Self Tuning Regulator) control, which is an adaptive control approach. The adopted STR was designed based on the PP (Pole Placement) method, and the online parameter estimation in RLS (Recursive Least Squares) method. The loop control behavior was evaluated by both simulations and real tests. The results have indicated that the desired trajectory were tracked accordingly with the requirements for overshoot and settling time.
Keywords
Self Tuning Regulator, adaptive control, Trajectory control, Pole Placement, Least Mean Squares
