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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.
|Title of host publication||20th IFAC World Congress Toulouse, France, 9–14 July 2017, Proceedings|
|Publication status||Published - 2017|
|Event||The 20th World Congress of the International Federation of Automatic Control - Toulouse, France|
Duration: 9 Jul 2017 → 14 Jul 2017
|Conference||The 20th World Congress of the International Federation of Automatic Control|
|Period||09/07/2017 → 14/07/2017|