Control of Wall Mounting Robot

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Abstract

This paper presents a method for designing controllers for trajectory tracking with actuator constraints. In particular, we consider a joystick-controlled wall mounting robot called WallMo. In contrast to previous works, a model-free approach is taken to the control problem, where the path parameter for the trajectory is adapted online. We demonstrate the method on a dynamic model of WallMo using predefined motion primitives, i.e. we consider path-constrained trajectory generation. It is seen that the control scheme results in improved trajectory tracking.
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This paper presents a method for designing controllers for trajectory tracking with actuator constraints. In particular, we consider a joystick-controlled wall mounting robot called WallMo. In contrast to previous works, a model-free approach is taken to the control problem, where the path parameter for the trajectory is adapted online. We demonstrate the method on a dynamic model of WallMo using predefined motion primitives, i.e. we consider path-constrained trajectory generation. It is seen that the control scheme results in improved trajectory tracking.
Original languageEnglish
Title of host publication20th IFAC World Congress Toulouse, France, 9–14 July 2017, Proceedings
Volume50
PublisherElsevier
Publication date2017
Edition1
Pages5648-5653
DOI
StatePublished - 2017
Publication categoryResearch
Peer-reviewedYes
EventThe 20th World Congress of the International Federation of Automatic Control - Toulouse, France
Duration: 9 Jul 201714 Jul 2017
https://www.ifac2017.org/

Conference

ConferenceThe 20th World Congress of the International Federation of Automatic Control
LandFrance
ByToulouse
Periode09/07/201714/07/2017
Internetadresse
SeriesIFAC-PapersOnLine
ISSN2405-8963

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ID: 252864161