제어로봇시스템학회:학술대회논문집
- 2000.10a
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- Pages.515-515
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- 2000
Dynamic Robust Path-Following Using A Temporary Path Generator for Mobile Robots with Nonholonomic Constraints
- Lee, Seunghee (School of Mechanical Eng., Hanyang University) ;
- Jongguk Yim (School of Mechanical Eng., Hanyang University) ;
- Park, Jong-Hyeon (School of Mechanical Eng., Hanyang University)
- Published : 2000.10.01
Abstract
The performance of dynamic path following of a wheeled mobile robot with nonholonomic constraints has some drawbacks such as the influence of the initial state. The drawbacks can be overcome by the temporary path generator and modified output. But with the previous input-output linearization method using them, it is difficult to tune the gains, and if there are some modeling errors, the low gain can make the system unstable. And if a high gain is used to overcome the model uncertainties, the control inputs are apt to be large so the system can be unstable. In this paper. an H
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