首页|Report Summarizes Robotics Study Findings from University of Castilla-La Mancha (A New Smith Predictor Motor Control System to Reduce Disturbance Effects Caused by Unknown Terrain Slopes in Mobile Robots)
Report Summarizes Robotics Study Findings from University of Castilla-La Mancha (A New Smith Predictor Motor Control System to Reduce Disturbance Effects Caused by Unknown Terrain Slopes in Mobile Robots)
扫码查看
点击上方二维码区域，可以放大扫码查看
原文链接
NETL
NSTL
Mdpi
Research findings on robotics are discussed in a new report. According to news reporting out of Ciudad Real, Spain, by NewsRx editors, research stated, “Accurate trajectory tracking is a paramount objective when a mobile robot must perform complicated tasks.” Our news correspondents obtained a quote from the research from University of Castilla-La Mancha: “In high-speed movements, hardware-induced delays may produce overshoots and even instability when controlling the system. In this case, Smith predictor controllers can be used because they are well suited for delayed processes. This paper addresses the accurate positioning of a mobile robot on a terrain of an unknown slope. This slope produces disturbance torques of unknown amplitudes in the robot actuators that yield a steady-state error in the positioning. Because our actuators are integrating plus time delay plants, the standard Smith predictor cannot remove these disturbances. This paper proposes a modification of this control scheme in order to remove these disturbances yielding a zero steady-state error in the actuators.”
University of Castilla-La ManchaCiudad RealSpainEuropeEmerging TechnologiesMachine LearningNano-robotRobotRobotics
NETL
NSTL
Mdpi
