대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2002년도 하계학술대회 논문집 D
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- Pages.2424-2426
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- 2002
Adaptive Tracking Control of Two-Wheeled Welding Mobile Robot - Dynamic Model Approach -
- Bui, Trong Hieu (Dept. of Mechanical Engineering, College of Eng., Pukyong National University) ;
- Nguyen, Tan Tien (Dept. of Mechanical Engineering, Hochiminh City University of Technology) ;
- Suh, Jin-Ho (Dept. of Mechanical Engineering, College of Eng., Pukyong National University) ;
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Kim, Sang-Bong
(Dept. of Mechanical Engineering, College of Eng., Pukyong National University)
- 발행 : 2002.07.10
초록
This paper proposes an adaptive control method of partially known system and shows its application result to control for two-wheeled WMR. The controlled system is stable in the sense of Lyapunov stability. To design a tracking controller for welding path reference, an error configuration is defined and the controller is designed to drive the error to zero as fast as desired. Moments of inertia of system are considered to be unknown system parameters. Their values are estimated using update laws in adaptive control scheme. The effectiveness of the proposed controller is shown through simulation results.
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