한국공작기계학회:학술대회논문집 (Proceedings of the Korean Society of Machine Tool Engineers Conference)
- 한국공작기계학회 2002년도 춘계학술대회 논문집
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- Pages.469-474
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- 2002
적응제어 및 시스템 규명을 이용한 Field Robot의 궤적 추종 제어
Trajectory Tracking Control of Field Robot using Adaptive Control and System Identification
초록
The Field Robot means the machinery applied for outdoor tasks in construction, agriculture and undersea etc. In this study, to field-robotize a hydraulic excavator that is mostly used in construction working, we have developed an automatic excavation system and adaptive control system. A model- reference adaptive controller has been designed on the model that is obtained through off-line System Identification. It is illustrated by computer simulations that the proposed control system gives good performances in the trajectory tracking control and adaptation to parameter variation.