CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
The Novel control method for the Adit data collection system
Lei Yang; En Li; Zize Liang
2016
Conference NameIEEE International Conference on Mechatronics & Automation
Source PublicationProceedings of IEEE International Conference on Mechatronics & Automation
Conference Date2016.8
Conference PlaceHarbin
Abstract

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.

KeywordMobile Robots Tuning Servosystems Cameras Fractional Calculus
Indexed ByEI
Language英语
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/12098
Collection复杂系统管理与控制国家重点实验室_先进机器人
复杂系统管理与控制国家重点实验室
Corresponding AuthorEn Li
Affiliation1.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
Recommended Citation
GB/T 7714
Lei Yang,En Li,Zize Liang. The Novel control method for the Adit data collection system[C],2016.
Files in This Item: Download All
File Name/Size DocType Version Access License
The Novel control me(783KB)会议论文 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Lei Yang]'s Articles
[En Li]'s Articles
[Zize Liang]'s Articles
Baidu academic
Similar articles in Baidu academic
[Lei Yang]'s Articles
[En Li]'s Articles
[Zize Liang]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Lei Yang]'s Articles
[En Li]'s Articles
[Zize Liang]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: The Novel control method for the Adit data collection system.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.