대한기계학회:학술대회논문집 (Proceedings of the KSME Conference)
- 대한기계학회 2003년도 춘계학술대회
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- Pages.786-791
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- 2003
용접용 이륜 이동로봇의 모델링 및 적응 추종 제어
Modeling and Adaptive Motion Tracking Control of Two-Wheeled Welding Mobile Robot (WMR)
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Suh, Jin-Ho
;
- Bui, Tring Hieu ;
- Nguyen, Tan Tien (Hochiminh City University of Technology) ;
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Kim, Sang-Bong
- 발행 : 2003.04.23
초록
This paper proposes an adaptive control algorithm for nonholonomic mobile robots with unknown parameters and the proposed control method is used in numerical simulations for applying to a practical twowheeled welding mobile robot(WMR). The proposed adaptive controller to track an arbitrary given welding path is designed by using back-stepping technique and is derived for a nonlinear model under the assumption such that the system parameters are partially known. Moreover, the proposed adaptive control system is stable in the sense of Lyapunov stability. Inertia moments of system are considered to be unknown parameters and their values can be estimated simply by using update laws proposed in an adaptive control scheme of this research. The simulation results are provided to show the effectiveness of the accurate tracking capability of the proposed controller for two-wheeled welding mobile robot with a smooth curved reference welding path.
키워드