Wavelet series based learning controller design for kinematic path-tracking control of mobile robot

Authors:
S. Gopinath;I. N. Kar;R. K. P. Bhatt
Affiliations:
ABB Global Indus. and Services Ltd, Bangalore, India;Indian Institute of Technology Delhi, New Delhi, India;Indian Institute of Technology Delhi, New Delhi, India
Venue:
Proceedings of the International Conference on Advances in Computing, Communication and Control
Year:
2009

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Abstract

In this paper, a learning controller is designed based on wavelet series approach for kinematic path tracking control of a mobile robot. In this approach wavelet series approximation is used to approximate the desired and actual trajectories of the mobile robot system into finite number of wavelet coefficients. A learning controller is designed in wavelet domain which forces the wavelet coefficients of the actual output approach to the corresponding wavelet coefficients of the desired trajectory, which are known constants, such that the tracking of mobile robot is achieved. Simulation results presented in this paper, describe the ability of the designed learning controller.