Composite control based on optimal torque control and adaptive kriging control for the CRAB rover

Bin Xu; Cedric Pradalier; Ambroise Krebs; Roland Siegwart; Fuchun Sun

doi:10.1109/ICRA.2011.5979800

Composite control based on optimal torque control and adaptive kriging control for the CRAB rover

Bin Xu
, Cedric Pradalier
, Ambroise Krebs
, Roland Siegwart
, Fuchun Sun

Swiss Federal Institute of Technology Zurich
Tsinghua University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

12 Scopus citations

Abstract

Terrainability is mostly dependant on the suspension mechanism and the control of a space rover. For the six wheeled CRAB rover, this paper presents the composite control design with torque control and adaptive Kriging control to improve the terrainability, somewhat related to minimizing wheel slip. As CRAB is moving slowly, the torque control is processed by minimizing the variance of the required friction coefficient based on the static model. Adaptive Kriging control is used to track the commanded velocity. The system uncertainty is compensated by Kriging estimation based on the velocity dynamics. Experiment results with two different tires show the effectiveness of the control scheme.

Original language	English
Title of host publication	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages	1752-1757
Number of pages	6
DOIs	https://doi.org/10.1109/ICRA.2011.5979800
State	Published - 2011
Externally published	Yes
Event	2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China Duration: 9 May 2011 → 13 May 2011

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Country/Territory	China
City	Shanghai
Period	9/05/11 → 13/05/11

Access to Document

10.1109/ICRA.2011.5979800

Cite this

Xu, B., Pradalier, C., Krebs, A., Siegwart, R., & Sun, F. (2011). Composite control based on optimal torque control and adaptive kriging control for the CRAB rover. In 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 (pp. 1752-1757). Article 5979800 (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2011.5979800

@inproceedings{42015e44202f453ba9fc2013af9b3a1a,

title = "Composite control based on optimal torque control and adaptive kriging control for the CRAB rover",

abstract = "Terrainability is mostly dependant on the suspension mechanism and the control of a space rover. For the six wheeled CRAB rover, this paper presents the composite control design with torque control and adaptive Kriging control to improve the terrainability, somewhat related to minimizing wheel slip. As CRAB is moving slowly, the torque control is processed by minimizing the variance of the required friction coefficient based on the static model. Adaptive Kriging control is used to track the commanded velocity. The system uncertainty is compensated by Kriging estimation based on the velocity dynamics. Experiment results with two different tires show the effectiveness of the control scheme.",

author = "Bin Xu and Cedric Pradalier and Ambroise Krebs and Roland Siegwart and Fuchun Sun",

year = "2011",

doi = "10.1109/ICRA.2011.5979800",

language = "英语",

isbn = "9781612843865",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

pages = "1752--1757",

booktitle = "2011 IEEE International Conference on Robotics and Automation, ICRA 2011",

note = "2011 IEEE International Conference on Robotics and Automation, ICRA 2011 ; Conference date: 09-05-2011 Through 13-05-2011",

}

Xu, B, Pradalier, C, Krebs, A, Siegwart, R & Sun, F 2011, Composite control based on optimal torque control and adaptive kriging control for the CRAB rover. in 2011 IEEE International Conference on Robotics and Automation, ICRA 2011., 5979800, Proceedings - IEEE International Conference on Robotics and Automation, pp. 1752-1757, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 9/05/11. https://doi.org/10.1109/ICRA.2011.5979800

Composite control based on optimal torque control and adaptive kriging control for the CRAB rover. / Xu, Bin; Pradalier, Cedric; Krebs, Ambroise et al.
2011 IEEE International Conference on Robotics and Automation, ICRA 2011. 2011. p. 1752-1757 5979800 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Composite control based on optimal torque control and adaptive kriging control for the CRAB rover

AU - Xu, Bin

AU - Pradalier, Cedric

AU - Krebs, Ambroise

AU - Siegwart, Roland

AU - Sun, Fuchun

PY - 2011

Y1 - 2011

N2 - Terrainability is mostly dependant on the suspension mechanism and the control of a space rover. For the six wheeled CRAB rover, this paper presents the composite control design with torque control and adaptive Kriging control to improve the terrainability, somewhat related to minimizing wheel slip. As CRAB is moving slowly, the torque control is processed by minimizing the variance of the required friction coefficient based on the static model. Adaptive Kriging control is used to track the commanded velocity. The system uncertainty is compensated by Kriging estimation based on the velocity dynamics. Experiment results with two different tires show the effectiveness of the control scheme.

AB - Terrainability is mostly dependant on the suspension mechanism and the control of a space rover. For the six wheeled CRAB rover, this paper presents the composite control design with torque control and adaptive Kriging control to improve the terrainability, somewhat related to minimizing wheel slip. As CRAB is moving slowly, the torque control is processed by minimizing the variance of the required friction coefficient based on the static model. Adaptive Kriging control is used to track the commanded velocity. The system uncertainty is compensated by Kriging estimation based on the velocity dynamics. Experiment results with two different tires show the effectiveness of the control scheme.

UR - https://www.scopus.com/pages/publications/84863387468

U2 - 10.1109/ICRA.2011.5979800

DO - 10.1109/ICRA.2011.5979800

M3 - 会议稿件

AN - SCOPUS:84863387468

SN - 9781612843865

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 1752

EP - 1757

BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011

T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011

Y2 - 9 May 2011 through 13 May 2011

ER -

Composite control based on optimal torque control and adaptive kriging control for the CRAB rover

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this