전기학회논문지 (The Transactions of The Korean Institute of Electrical Engineers)

  • 제62권3호
  • /
  • Pages.401-406
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  • 2013
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  • 1975-8359(pISSN)
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  • 2287-4364(eISSN)
대한전기학회 (The Korean Institute of Electrical Engineers)
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Tracking Control of a Mobile Robot using Gain-scheduling Control Method

  • 권해영 (동아대학교 전기공학과) ;
  • 최호림 (동아대학교 전기공학과)
  • Kwon, Hae-Yeong (Dept. of Electrical Engineering, Dong-A University) ;
  • Choi, Ho-Lim (Dept. of Electrical Engineering, Dong-A University)
  • 투고 : 2012.08.23
  • 심사 : 2013.02.22
  • 발행 : 2013.03.01
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초록

The mobile robot is one of the widely-used systems in service industry. We propose a gain-scheduling feedback controller for the tracking control of the mobile robot. The benefit of our proposed controller is that it avoids the singularity issue occurs with the controllers suggested in [4], [10]. Moreover, we show the stability analysis of the controlled system via a Lyapunov stability approach such that the exponential convergence of tracking error to zero is analytically provided. The simulation results show the validity of the proposed controller and improved control performance over the conventional controller.

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참고문헌

  1. F.M. Raimondi, M. Melluso and L.S. Ciancimino, "A new kinematic and dynamic direct adaptive fuzzy control of constrained mobile wheeled vehicles," IEEE Conference on Emerging Technologies and Factory Automation, vol. 2, no. 10, pp. 181-188, 2005.
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  3. H.K. Khalil, Nonlinear systems, 3rd, Prentice Hall Inc., 2002.
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  8. S.-H. Lee, "On stability analysis of nonlinear systems and tracking problems with incremental gain scheduling," Master dissertation, Elec. Engr., KAIST, 1995.
  9. T. Das and I.N. Kar, "Design and implementation of an adaptive fuzzy logic-based controller for wheeled mobile robots," IEEE Trans. on Control Systems Technology, vol. 14, no. 3. pp. 501-510, 2006. https://doi.org/10.1109/TCST.2006.872536
  10. Y. Kanayama, Y. Kimura, F. Miyazaki and T. Noguchi, "A stable tracking control method for an autonomous mobile robot," Proc. IEEE Conference on Robotics and Automation, pp. 384-389, 1990.