Design of an adaptive velocity controller for a programmable four wheel vehicle

Abstract

The design and implementation of a model reference adaptive velocity control system for a small programmable four-wheel robotic vehicle are presented. Modeling of the plant, hardware and software design approaches, and experimental results of the study are discussed. It has been demonstrated that a MRAC (model reference adaptive control) system can be easily implemented by programming the control law in a microcontroller. The designed PWM (pulse-width modulation) motor controller hardware performed as expected, providing a significant increase in the efficiency and controllability of the motor. The appropriate selection of the adaptive gains and other factors is crucial for the practical implementation of the MRAC control law. Computer simulation provides the necessary means for the adjustment of these parameters and the verification of the design. >