Journal of the Korean Institute of Telematics and Electronics S (전자공학회논문지S)
- Volume 34S Issue 1
- /
- Pages.54-64
- /
- 1997
- /
- 1226-5837(pISSN)
Implementation of a dynamic control for a mobile robot
이동 로보트의 동적 제어 구현
Abstract
In this paper, a method of dynamic modeling and a dynamic control of a mobile robot are presented to show the superiority of the dynamic control comparing to the PD control. This dynamic model is derived from the cartesian coordinates using lagrange equations. Based upon the derived dynamic model, we implemented the dynamic control of the mobile robot using the computed torque method. Time varying non-linear friction terms are not incroporated in this dynamic model. Instead, those are considered as disturbances. This uncertainty in dynamic model of mobile robot is compensated by the outer loop controller using PD algorithm. The validity of this model and the control algorithm are confirmed through the experiments, where the dynamic control algorithm demonstrated robust velocity tracking performance against the unmodeled non-linear frictions. The superiority of this algorithm is demonstrated by comparing to classical PD control algorithm.
Keywords