Modeling and low order adaptive control of a DC motor driven electric cart

Abstract

In this paper a special adaptive control of a caster-supported Wheeled Mobile Robot (WMR) having two active wheels driven by electric DC motors is considered. In such electrical subsystems the first time-derivative of the motor current has a direct voltage control that is related to the 3<sup>rd</sup> time-derivative of the angle of the motor's axle… (More)
DOI: 10.1109/RAAD.2014.7002264

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@article{Rudas2014ModelingAL, title={Modeling and low order adaptive control of a DC motor driven electric cart}, author={Imre J. Rudas and J{\'a}nos F. Bit{\'o} and J{\'o}zsef K. Tar and Balazs Kurtan}, journal={2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)}, year={2014}, pages={1-6} }