전자공학회논문지 IE

The Institute of Electronics and Information Engineers (대한전자공학회)
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Trajectory Tracking Control for A Wheeled Mobile Robot

모바일 로봇의 경로 추종 제어

  • Kim, Jin-Hwan (Department of Electrical Information, Inha Technical College)
  • 김진환 (인하공업전문대학 전기정보과)
  • Published : 2009.12.25
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Abstract

This paper presents the trajectory tracking control for mobile robot. The designed controller consists of kinematic and dynamic controller. Kinematic controller has two gains and it reduces the trial time for gain setting as compared convectional controller with three gains. Dynamic controller includes the compensation of friction and disturbance. It can improve the performance of the trajectory tracking under the various environment. Simulation results shows that the proposed controller has a stable performance.

본 논문에서는 모바일 로봇의 경로 주총 제어에 관해 다룬다. 설계된 제어기는 운동학 제어기와 동역학 제어기로 구성된다. 운동학 제어기는 2개의 게인을 가짐에 따라 기존의 3개의 게인을 가지는 제어기에 비해 게인 설정에 필요한 시간을 줄일 수 있다. 동역학 제어기는 마찰력과 외란 보상을 고려하여 다양한 환경에서 경로 추종 성능을 개선시킬 수 있다. 모의실험 결과를 통해 제안된 제어기의 안정된 성능을 확인할 수 있다.

Keywords

References

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