Extremum Seeking for Dead-Zone Compensation and Its Application to a Two-Wheeled Robot
Dessy Novita 1 and
Shigeru Yamamoto 2
1. Graduate School of Natural Science and Technology, Kanazawa University, Kakuma, Kanazawa, Ishikawa, Japan
2. Institute of Science and Engineering, Kanazawa University, Kakuma, Kanazawa, Ishikawa, Japan
2. Institute of Science and Engineering, Kanazawa University, Kakuma, Kanazawa, Ishikawa, Japan
Abstract—In this work, we apply discrete-time extremum seeking control with a moving average filter for tuning dead-zone compensation to cancel the input dead-zone property of the controlled plant. This tuning is accomplished to optimize a control performance in real time. Unstable plants with a dead-zone property such as a two-wheeled robot show vibration motion. The original extremum seeking control is proposed by Haring et al. in which the periodic steady-state output is treated.
Index Terms—dead-zone compensation, discrete-time extremum seeking control, two-wheeled robot
Cite: Dessy Novita and Shigeru Yamamoto, "Extremum Seeking for Dead-Zone Compensation and Its Application to a Two-Wheeled Robot," Jounal of Automation and Control Engineering, Vol. 3, No. 4, pp. 265-269, August, 2015. doi: 10.12720/joace.3.4.265-269
Index Terms—dead-zone compensation, discrete-time extremum seeking control, two-wheeled robot
Cite: Dessy Novita and Shigeru Yamamoto, "Extremum Seeking for Dead-Zone Compensation and Its Application to a Two-Wheeled Robot," Jounal of Automation and Control Engineering, Vol. 3, No. 4, pp. 265-269, August, 2015. doi: 10.12720/joace.3.4.265-269
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