지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2012.10
- 수록면
- 902 - 911 (10page)
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초록· 키워드
오류제보하기
This paper proposes a robust adaptive fuzzy backstepping control scheme for trajectory tracking of an electrically driven nonholonomic mobile robot with uncertainties and actuator dynamics. A complete model of an electrically driven nonholonomic mobile robot described in this work includes all models of the uncertain robot kinematics with a nonholonomic constraint, the uncertain robot body dynamics with uncertain frictions and unmodeled disturbances, and the uncertain actuator dynamics with disturbances. The proposed control scheme uses the backstepping control approach through a kinematic controller and a robust adaptive fuzzy velocity tracking controller. The presented control scheme has a voltage control input with an auxiliary current control input rather than a torque control input. It has two FBFNs(Fuzzy Basis Function Networks) to approximate two unknown nonlinear robot dynamic functions and a robust adaptive control input with the proposed adaptive laws to overcome the uncertainties such as parameter uncertainties and external disturbances. The proposed control scheme does not a priori require the accurate knowledge of all parameters in the robot kinematics, robot dynamics and actuator dynamics. It can also alleviate the chattering of the control input. Using the Lyapunov stability theory, the stability of the closed-loop robot control system is guaranteed. Simulation results show the validity and robustness of the proposed control scheme.
목차
Abstract
I. 서론
II. 전기 구동 논홀로노믹 이동 로봇 시스템
III. 이동 로봇의 기구학적 추종 제어
IV. 강인 적응 퍼지 속도 추종 제어
V. 폐루프 제어 시스템의 안정도 증명
VI. 시뮬레이션 결과
VII. 결론
참고문헌
참고문헌 (18)
참고문헌 신청
1. [학술대회논문] - Y. Kanayama / 1990 / A stable tracking control method for an autonomous mobile robot / Proc. of the IEEE International Conference on Robotics and Automation 1 : 384 ~ 389
2. [학술지(정기간행물)] - 오준호 / 199903 / Tracking control of a two-wheeled mobile robot using input-output linearization / CONTROL ENGINEERING PRACTICE 7 (3) : 369 ~ 373
3. [학술대회논문] - Y. Hu / 2003 / A fuzzy neural dynamics based tracking controller for a nonholonomic mobile robot / Proc. of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics 1 : 205 ~ 210
4. [학술대회논문] - R. Fierro / 1995 / Control of a nonholonomic mobile robot: backstepping kinematics into dynamics / Proc. of the IEEE International Conference on Decision and Control 4 : 3805 ~ 3810
5. [학술지(정기간행물)] - 이주장 / 200306 / Designing a robust adaptive dynamic controller for nonholonomic mobile robots under modeling uncertainty and disturbances / MECHATRONICS 13 (5) : 507 ~ 519
2. [학술지(정기간행물)] - 오준호 / 199903 / Tracking control of a two-wheeled mobile robot using input-output linearization / CONTROL ENGINEERING PRACTICE 7 (3) : 369 ~ 373
3. [학술대회논문] - Y. Hu / 2003 / A fuzzy neural dynamics based tracking controller for a nonholonomic mobile robot / Proc. of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics 1 : 205 ~ 210
4. [학술대회논문] - R. Fierro / 1995 / Control of a nonholonomic mobile robot: backstepping kinematics into dynamics / Proc. of the IEEE International Conference on Decision and Control 4 : 3805 ~ 3810
5. [학술지(정기간행물)] - 이주장 / 200306 / Designing a robust adaptive dynamic controller for nonholonomic mobile robots under modeling uncertainty and disturbances / MECHATRONICS 13 (5) : 507 ~ 519
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