대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1998년도 하계학술대회 논문집 G
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- Pages.2351-2353
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- 1998
크로스 커플링을 이용한 이동 로봇의 경로제어에 관한 연구
A Study on Path Tracking Control for Mobile Robot Using Cross Coupling
- Han, Young-Seok (Sogang University Electronic Engineering) ;
- Lee, Kwae-Hi (Sogang University Electronic Engineering)
- 발행 : 1998.07.20
초록
This paper suggests the wheel controller for PWS(Power Wheeled Steering) mobile robot. The proposed controller consists of two parts. To control each motor, the sliding mode controller implemented. This method has robustness about modeling error and disturbance, so the velocity tracking is well guaranteed in the presence of varying load. The design of a fuzzy cross-coupling controller for a PWS mobile robot is described here. Fuzzy cross-coupling control directly minimizes the tracking error by coordinating the motion of the two drive wheels. The fuzzy cross-coupling controller has excellent disturbance rejection and therefore is advantageous when the robot is not loaded symmetrically. The capability of the proposed controller was verified through the computer simulation.
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