DC Field | Value | Language |
---|---|---|
dc.contributor.author | 김도현 | - |
dc.contributor.author | 오준호 | - |
dc.date.accessioned | 2013-03-15T23:08:57Z | - |
dc.date.available | 2013-03-15T23:08:57Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 1997-10-17 | - |
dc.identifier.citation | 제어로봇시스템학회 1997년도 한국자동제어학술회의, v., no., pp.187 - 190 | - |
dc.identifier.uri | http://hdl.handle.net/10203/124920 | - |
dc.description.abstract | 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. | - |
dc.language | KOR | - |
dc.publisher | 제어로봇시스템학회 | - |
dc.title | 이동로보트의 점근적으로 안정한 추종제어 | - |
dc.title.alternative | Asymptotically stable tracking control of mobile robots | - |
dc.type | Conference | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 187 | - |
dc.citation.endingpage | 190 | - |
dc.citation.publicationname | 제어로봇시스템학회 1997년도 한국자동제어학술회의 | - |
dc.identifier.conferencecountry | South Korea | - |
dc.identifier.conferencecountry | South Korea | - |
dc.contributor.localauthor | 오준호 | - |
dc.contributor.nonIdAuthor | 김도현 | - |
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