{"id":{"repo_id":"vt","oai_identifier":"oai:vtechworks.lib.vt.edu:10919/78198"},"canonical_url":"https://search.dev.ndltd.org/etd/vt/oai:vtechworks.lib.vt.edu:10919/78198","repository":{"repo_id":"vt","name":"Virginia Tech","base_url":"https://vtechworks.lib.vt.edu/oai/request"},"display":{"title":"Advanced Control Design of an Autonomous Line Painting Robot","abstract":"Painting still plays a fundamental role in communication nowadays. For example, the paint on the road, called road surface marking, guides the traffic in order and maintains the high efficiency of the entire modern traffic system. With the development of the Autonomous Ground Vehicle (AGV), the idea of a line Painting Robot emerged. In this thesis, a Painting Robot was designed as a standalone system based on the AGV platform. In this study, the mechanical and electronic design of a Painting Robot was discussed. The overall design was to fulfill the requirements of the line painting. Computer vision techniques were applied to this thesis since the camera was selected as the major sensor of the robot. Advanced control theory was introduced to this thesis as well. Three different controllers were developed. The Proportional-Integral (PI) controller with an anti-windup feature was designed to overcome the drawbacks of the traditional PI controller. Model Reference Adaptive Control (MRAC) was introduced into this thesis to deal with the uncertainties of the system. At last, the hybrid PI-MRAC controller was implemented to maintain the advantages of both PI and MRAC approaches. Experiments were conducted to evaluate the performance of the entire system, which indicated the successful design of the Painting Robot.","abstract_html":"Painting still plays a fundamental role in communication nowadays. For example, the paint on the road, called road surface marking, guides the traffic in order and maintains the high efficiency of the entire modern traffic system. With the development of the Autonomous Ground Vehicle (AGV), the idea of a line Painting Robot emerged. In this thesis, a Painting Robot was designed as a standalone system based on the AGV platform. In this study, the mechanical and electronic design of a Painting Robot was discussed. The overall design was to fulfill the requirements of the line painting. Computer vision techniques were applied to this thesis since the camera was selected as the major sensor of the robot. Advanced control theory was introduced to this thesis as well. Three different controllers were developed. The Proportional-Integral (PI) controller with an anti-windup feature was designed to overcome the drawbacks of the traditional PI controller. Model Reference Adaptive Control (MRAC) was introduced into this thesis to deal with the uncertainties of the system. At last, the hybrid PI-MRAC controller was implemented to maintain the advantages of both PI and MRAC approaches. Experiments were conducted to evaluate the performance of the entire system, which indicated the successful design of the Painting Robot.","abstract_has_math":false,"creators":["Cao, Mincan"],"institution":"Virginia Tech","degree_name":"Master of Science","degree_level":"masters","degree_discipline":"Mechanical Engineering","degree_department":"Mechanical Engineering","school":null,"contributors":[],"advisors":[],"committee_chairs":["Leonessa, Alexander"],"committee_members":["Furukawa, Tomonari","Steve, Southward"],"year":2017,"date_issued":"2017-05-30","date_published":"2017-05-30","updated_at":"2026-07-22T22:18:57Z","subjects":["Adaptive Control","Painting Robot","Computer Vision"],"languages":["en_US"],"rights":["Creative Commons Attribution-ShareAlike 3.0 United States"],"rights_urls":["http://creativecommons.org/licenses/by-nc-sa/3.0/us/"],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/10919/78198","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.committeechair","label":"Committee Chair","values":["Leonessa, Alexander"]},{"key":"dc:contributor.committeemember","label":"Committee Member","values":["Furukawa, Tomonari","Steve, Southward"]},{"key":"dc:contributor.department","label":"Department","values":["Mechanical Engineering"]},{"key":"dc:creator","label":"Author","values":["Cao, Mincan"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2017-06-14T19:25:09Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2017-06-14T19:25:09Z"]},{"key":"dc:date.issued","label":"Date","values":["2017-05-30"]},{"key":"dc:publisher","label":"Institution","values":["Virginia Tech"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["masters"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master of Science"]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["Virginia Polytechnic Institute and State University"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Adaptive Control","Painting Robot","Computer Vision"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language.iso","label":"Language (ISO)","values":["en_US"]},{"key":"dc:rights","label":"Dc Rights","values":["Creative Commons Attribution-ShareAlike 3.0 United States"]},{"key":"dc:rights.uri","label":"Rights URI","values":["http://creativecommons.org/licenses/by-nc-sa/3.0/us/"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/10919/78198"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["Painting still plays a fundamental role in communication nowadays. For example, the paint on the road, called road surface marking, guides the traffic in order and maintains the high efficiency of the entire modern traffic system. With the development of the Autonomous Ground Vehicle (AGV), the idea of a line Painting Robot emerged. In this thesis, a Painting Robot was designed as a standalone system based on the AGV platform. In this study, the mechanical and electronic design of a Painting Robot was discussed. The overall design was to fulfill the requirements of the line painting. Computer vision techniques were applied to this thesis since the camera was selected as the major sensor of the robot. Advanced control theory was introduced to this thesis as well. Three different controllers were developed. The Proportional-Integral (PI) controller with an anti-windup feature was designed to overcome the drawbacks of the traditional PI controller. Model Reference Adaptive Control (MRAC) was introduced into this thesis to deal with the uncertainties of the system. At last, the hybrid PI-MRAC controller was implemented to maintain the advantages of both PI and MRAC approaches. Experiments were conducted to evaluate the performance of the entire system, which indicated the successful design of the Painting Robot."]},{"key":"dc:description.abstractgeneral","label":"General Abstract","values":["Painting still plays a fundamental role in communication nowadays. With the development of the Autonomous Ground Vehicle (AGV), the idea of a line Painting Robot emerged. In this thesis, a Painting Robot was designed as a standalone system based on the AGV platform. In this study, a Painting Robot with a two-camera system was designed. Computer vision techniques and advanced control theory were introduced into this thesis. Three different controllers were developed, including Proportional-Integral (PI) with an anti-windup feature, Model Reference Adaptive Control (MRAC) and the hybrid PI-MRAC. 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Model Reference Adaptive Control (MRAC) was introduced into this thesis to deal with the uncertainties of the system. At last, the hybrid PI-MRAC controller was implemented to maintain the advantages of both PI and MRAC approaches. Experiments were conducted to evaluate the performance of the entire system, which indicated the successful design of the Painting Robot."],"dc:description.abstractgeneral":["Painting still plays a fundamental role in communication nowadays. With the development of the Autonomous Ground Vehicle (AGV), the idea of a line Painting Robot emerged. In this thesis, a Painting Robot was designed as a standalone system based on the AGV platform. In this study, a Painting Robot with a two-camera system was designed. Computer vision techniques and advanced control theory were introduced into this thesis. Three different controllers were developed, including Proportional-Integral (PI) with an anti-windup feature, Model Reference Adaptive Control (MRAC) and the hybrid PI-MRAC. Experiments were conducted to evaluate the performance of the entire system, which indicated the successful design of the Painting Robot."],"dc:description.degree":["Master of Science"],"dc:format.medium":["ETD"],"dc:identifier.uri":["http://hdl.handle.net/10919/78198"],"dc:language.iso":["en_US"],"dc:publisher":["Virginia Tech"],"dc:rights":["Creative Commons Attribution-ShareAlike 3.0 United States"],"dc:rights.uri":["http://creativecommons.org/licenses/by-nc-sa/3.0/us/"],"dc:subject":["Adaptive Control","Painting Robot","Computer Vision"],"dc:title":["Advanced Control Design of an Autonomous Line Painting Robot"],"dc:type":["Thesis"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_level":["masters"],"thesis:degree_name":["Master of Science"],"thesis:institution_name":["Virginia Polytechnic Institute and State University"]},"updated_at":"2026-07-22T22:18:57Z"}