모터 동역학을 포함한 이동 로봇의 추종 제어를 위한 동적 표면 제어

Dynamic surface control for trajectory tracking of mobile robots including motor dynamics

Almost all existing controllers for nonholonomic mobile robots are designed without considering the motor dynamics. This is because the presence of the motor dynamics increases the complexity of the system dynamics, and makes difficult the design of the controller. In this paper, we propose a simple controller for trajectory tracking of mobile robots including motor dynamics. For the simple controller design, the dynamic surface control methodology is applied and extended to multi-input multi-output systems (i.e., mobile robots) that the number of inputs and outputs are different. Finally, simulation results demonstrate the effectiveness of the proposed controller.