Study on control method of modular mobile robot based on MFA theory

WANG Yong1， FEI Yan-qiong1， SONG Li-bo2
（1. Institute of Robotics， Shanghai Jiaotong University， Shanghai 200240，China；
2. Engineering Traning Center， Shanghai Jiaotong University， Shanghai 200240，China）

Abstract： For the study of model-free adaptive（MFA） control algorithm applied in the field of robot control，a modular differential-driven mobile robot was designed. Taking such factors as nonholonomic constraint， MIMO， capacity constraints and other characteristics into consideration， the model-free adaptive control system was established accordingly. The pulse width modulation（PWM） signals were used as inputs，the robot's azimuth and velocity were used as outputs. To improve processing speed and reduce the computation， the least squares principle was used to design a new pseudo-partial derivative and the control law online estimation algorithm. The simulation results show that the method has strong robustness，fast response，high accuracy and control features，its performance better than traditional PID control.
Key words： modular mobile robot；model-free adaptive（MFA）control；least squares；pseudo-partial derivative；pulse width modulation（PWM）