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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Trajectory Control of Field Robot Using Adaptive Control and System Identification

적응제어 및 시스템 규명을 이용한 Field Robot의 궤적 제어

  • 김승수 (울산대학교 RRC) ;
  • 서우석 (울산대학교 자동차공학과) ;
  • 양순용 (울산대학교 기계·자동차공학부) ;
  • 이병룡 (울산대학교 기계·자동차공학부) ;
  • 안경관 (울산대학교 기계·자동차공학부)
  • Published : 2002.09.01
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Abstract

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 an adaptive control system. A model-reference adaptive controller has been designed based on the model that is obtained through off-line system identification. It is illustrated by computer simulations that the proposed control system gives good performance in the trajectory tracking control and the adaptation to parameter variation.

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References

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