바퀴구동 이동로봇의 경로추적 직접적응제어

Direct Adaptive Tracking Control For a Wheeled Mobile Robot

  • 이용근 (인하공업전문대학 전기정보과학과)
  • 투고 : 2004.10.25
  • 심사 : 2004.11.24
  • 발행 : 2004.12.01

초록

In this paper, a direct adaptive tracking controller based Lyapunov method is designed for a wheeled mobile robots. A wheeled mobile robots have three degrees of freedom and two control variables. Therefore, it is difficult to control a mobile robot using the general linear control. We introduce two kinds of Lyapunov function for the design of the controller and verify the controller. A mobile robots using the designed adaptive direct tracking controller is well-behaved and is easily implemented.

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