이동로보트의 점근적으로 안정한 추종제어Asymptotically stable tracking control of mobile robots

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In the past few years, many researchers are interesting of control of mobile robot with nonholonomic constraints. And tracking problems is important as well as regulation in nonholonomic system control. Some researchers have investigated the stable tracking control law for mobile robot. But, few results showed the globally asymptotically stable control method simply. So, we address the design of globally asymptotically stable tracking control law for mobile robot with nonholonomic velocity constraints using simple method. The stabilizability of the controller is derived by Lyapunov direct method. And we analyze the system responses according to the variation of control parameters in line tracking problem. It is derived that the responses represent no overshoot property in line tracking. Examples are two-wheeled mobile robot and car-like mobile robot and the simulation results represent the effectiveness of our method.
Publisher
제어로봇시스템학회
Issue Date
1997-10-17
Language
KOR
Citation

제어로봇시스템학회 1997년도 한국자동제어학술회의, pp.187 - 190

URI
http://hdl.handle.net/10203/124920
Appears in Collection
ME-Conference Papers(학술회의논문)
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