Accession Number:

ADA465704

Title:

Adaptive Tracking Control of On-Line Path Planners: Velocity Fields and Navigation Functions

Descriptive Note:

Corporate Author:

CLEMSON UNIV SC DEPT OF ELECTRICAL AND COMPUTER ENGINEERING

Report Date:

2004-01-01

Pagination or Media Count:

25.0

Abstract:

Traditionally, robot control research has focused on the position tracking problem where the objective is to force the robots end-effector to follow an a priori known desired time dependent trajectory. Motivated by task objectives that are more effectively described by on-line, state-dependent trajectories, two adaptive tracking controllers are developed in this paper that accommodate on-line path planning objective. An example adaptive controller is first modified to achieve velocity field tracking in the presence of parametric uncertainty in the robot dynamics. The development aims to relax the typical assumption that the integral of the velocity field is bounded by incorporating a norm- squared gradient term in the control design so that the boundedness of all signals can be proven. An extension is then provided that targets the trajectory planning problem where the task objective can be described as the desire to move to a goal configuration while avoiding known obstacles. Specifically, an adaptive navigation function based controller is designed to provide a path from an initial condition inside the free configuration space of the robot manipulator to the goal configuration. Experimental results for each controller are provided to illustrate proof of validation of the approaches.

Subject Categories:

  • Operations Research
  • Cybernetics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE