ISSN 1991-2927
 

ACP № 1 (59) 2020

An Algorithm to Build Delayed Control for Mobile Wheeled Robot Taking Into Account Wheel Slip

Daria Yuryevna Motorina, FRPC OJSC RPA Mars, post-graduate student at the Chair of Information Security and Control Theory at Ulyanovsk State University, field: Mathematical Modeling, Calculi of Approximations and Software System; graduated from the Faculty of Mathematics and Information Technologies of Ulyanovsk State University; programmer at FRPC OJSC RPA Mars; is interested in control of mechanical-system motion. [e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it. .]D. Motorina

An Algorithm to Build Delayed Control for Mobile Wheeled Robot Taking Into Account Wheel Slip 25_3.pdf

The article deals with a tracking task for mobile robot with three roller-carrying wheels taking into account wheel slip and delay in feedback structure. To solve this task, the author suggests applying continuous control with saturation which represents a combination of relay control and quickly changing linear control. The article also cites an algorithm for control parameters and maximum value of system delay.

Tracking task, delayed control, roller-carrying wheels, wheel slip.

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