The Novel control method for the Adit data collection system
Lei Yang; En Li; Zize Liang; 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
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/12098
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Lei Yang, En Li, Zize Liang
推荐引用方式
GB/T 7714
Lei Yang,En Li,Zize Liang,et al. The Novel control method for the Adit data collection system[C],2016.
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