대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2001년도 합동 추계학술대회 논문집 정보 및 제어부문
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- Pages.307-310
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- 2001
An adaptive Control of the Nonholonomic Mobile AGV
- Han, Zhe-Yong (Dept. of Elec. Inha Univ.) ;
- Huh, Uk-Youl (Dept. of Elec. Inha Univ.)
- 발행 : 2001.11.24
초록
Mobile AGV is one of the nonholon-omic systems. The integration of the kinematic adaptive controller for the dynamic in this pa-per introduction a motion control problem's dynamic state feedback as well as output feedback tracking laws will be constructed with the adaptive extension of the controller is proposed. Feedback control strategies for mobile AGV are important to compensate for disturabances and errors in the initial condition. The problems of path following or tracking and of stabilization about a constant configuration have been treated as separate problems for nonholonomic mobile AGV.
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