Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Dynamic control of mobile robots using a robust.adaptive learning control method

강인.적응학습제어 방식에 의한 이동로봇의 동력학 제어

  • Published : 1998.04.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, a robust.adaptive learning control scheme is presented for precise trajectory tracking of rigid mobile robots. In the proposed controller, a set of desired trajectories is defined and used in constructing the control input and learning rules which constitute the main part of the proposed controller. Stable operating characteristics such as precise trajectory tracking, parameter estimation, disturbance suppression, etc., are shown thorugh experiments and computer simulations.

Keywords

References

  1. Proc. IEEE Int. Conf. Robotics and Automation A stable tracking control method for an autonomous mobile robot Y. Kanayama;Y. Kimura;F. Miyazaki;T. Noguchi
  2. Proc. IEEE Conf. Robotics and Automation Modelling and control of non holonomic wheeled mobile robots B. d'Andrea-Novel;G. Bastin;G. Campion
  3. Proc. IEEE IECON Motion planning and control for non-holonomic mobile robots R. Zulli;R. Fierro;G. Conte;F. L. Lewis
  4. Proc. IEEE Conf. Robotics and Automation A rapid mobile robot synthesis P. Ruaux;G. Bourooun;S. Delaplkace;N. Pons;J. Rabit
  5. IEEE Journal of Robotics and Automation v.4 no.3 Vehicle path specification by a sequence of straiht lines Y. Kanayama;S. Yuta
  6. Differential Geometric Control Theory Asymptotic stability and feedback stabilization R. W. Brockett;R. W. Brockett(ed.);R. S. Millman(ed.);H. J. Sussmann(ed.)
  7. Control of Robot Manipulators F. L. Lewis;C. T. Abdallah;D. M. Dawson