Knowledge Commons of Institute of Automation,CAS
The Novel control method for the Adit data collection system | |
Lei Yang; En Li; Zize Liang | |
2016 | |
会议名称 | IEEE International Conference on Mechatronics & Automation |
会议录名称 | Proceedings of IEEE International Conference on Mechatronics & Automation |
会议日期 | 2016.8 |
会议地点 | Harbin |
摘要 | With the continuous development of modern surveying and mapping technology, robotics has been gradually adopted to achieve the autonomous digital measurements. In this paper, a mobile robot platform is designed and controlled to travel inside the Adit environment to collect data for 3D reconstruction and measurement. In traditional control applications, PID-based methods(PID) are widely used for the motion servo control and present good performance in most cases. However, for some nonlinear systems, especially for the complicated applications in Adit environment, traditional PID-based method cannot get desired results. Meanwhile PID controller with fractional order(FPID) can have better control effect than traditional integer order PID controllers and is addressed in the application for the mobile robot platform inside the Adit. In this paper, a mobile robot platform is designed and the servo control system of the mobile robot platform is designed and analyzed. Meanwhile, a motion controller based on fractional order PID method is designed. With the following simulations, performance of the presented method is compared with that of traditional integer order PID method which shows that the fractional order PID controller is easy to design and has the ability of fast response and robust. |
关键词 | Mobile Robots Tuning Servosystems Cameras Fractional Calculus |
收录类别 | EI |
语种 | 英语 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/12098 |
专题 | 复杂系统认知与决策实验室_先进机器人 复杂系统管理与控制国家重点实验室 |
通讯作者 | En Li |
作者单位 | 1.Institute of Automation Chinese Academy of Sciences Beijing,University of Chinese Academy of Sciences Beijing 2.Institute of Automation Chinese Academy of Sciences Beijing 3.Institute of Automation Chinese Academy of Sciences Beijing |
推荐引用方式 GB/T 7714 | Lei Yang,En Li,Zize Liang. The Novel control method for the Adit data collection system[C],2016. |
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The Novel control me(783KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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