Introduction to Mobile Robot Control

7

Mobile Robot Control III

Adaptive and Robust Methods

Typically, real control systems, such as robots, have slowly varying unknown parameters and contain uncertainties or disturbances due to load variation, environmental effects, and so on. The controllers presented in Chapters 5 and 6 were derived assuming that the robots are not subject to such variations and uncertainty phenomena. This chapter is concerned with robotic system that involves parameter variations and/or uncertain disturbance inputs. The two primary methodologies for treating such systems, namely, adaptive control and robust control methodologies are employed. First, an adaptation algorithm is always employed for estimating the unknown parameters in real time. Second, the controller ...