Control of Wall Mounting Robot

Research output: Research - peer-reviewArticle in proceeding

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 publicationProceedings of the 20th World Congress of the International Federation of Automatic Control
Publication date2017
StateAccepted/In press - 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

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ID: 252864161