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
- 2014.12
- 수록면
- 1,238 - 1,245 (8page)
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초록· 키워드
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This paper proposes an RBFN-based adaptive tracking controller for an electrically driven mobile robot with parametric uncertainties and external disturbances. A mobile robot model considered in this paper includes all models of the robot body and actuators with uncertain kinematic and dynamic parameters, and uncertain frictions and external disturbances. The proposed controller consists of an RBFN(Radial Basis Function Network) and a robust adaptive controller. The presented RBFN is used to approximate unknown nonlinear robot dynamic functions. The proposed controller is adjusted by the adaptation laws obtained through the Lyapunov stability analysis. The proposed control scheme does not a priori need the accurate knowledge of all parameters in the robot kinematics, robot dynamics and actuator dynamics. Also, nominal parameter values are not required in the controller. The global stability of the closed-loop robot control system is guaranteed using the Lyapunov stability theory. Simulation results show the validity and robustness of the proposed control scheme.
목차
Abstract
Ⅰ. 서론
Ⅱ. 이륜 구동 이동 로봇 시스템의 모델
Ⅲ. RBFN 기반 적응 추종 제어기의 설계
Ⅳ. 안정도 증명
Ⅴ. 시뮬레이션 결과
Ⅵ. 결론
REFERENCES
참고문헌 (21)
참고문헌 신청
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
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 :205~210
S. Blazic / 2011 / A novel trajectory-tracking control law for wheeled mobile robots / Robotics and Autonomous Systems 59:1001~1007
Q. Xu / 2014 / Fuzzy PID based trajectory tracking control of mobile robots and its simulation in simulink / International Journal of Control and Automation 7(8):233~244
R. -J. Wai / 2009 / Design of dynamic petri recurrent fuzzy neural network and its application to path-tracking control of nonholonomic mobile robot / IEEE Trans. on Industrial Electronics 56(7):2667~2683
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 :205~210
S. Blazic / 2011 / A novel trajectory-tracking control law for wheeled mobile robots / Robotics and Autonomous Systems 59:1001~1007
Q. Xu / 2014 / Fuzzy PID based trajectory tracking control of mobile robots and its simulation in simulink / International Journal of Control and Automation 7(8):233~244
R. -J. Wai / 2009 / Design of dynamic petri recurrent fuzzy neural network and its application to path-tracking control of nonholonomic mobile robot / IEEE Trans. on Industrial Electronics 56(7):2667~2683
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UCI(KEPA) : I410-ECN-0101-2015-560-002851814