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 -