대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2004년도 하계학술대회 논문집 D
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- Pages.2411-2413
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- 2004
시스템 확장에 의한 수동성 제어에 기초한 다중 이동로봇 시스템의 모델링 및 안정성 해석
Modeling and Stability Analysis for Multiple Mobile Robot System by Passivity-based Control via Augmented System
- Suh, Jin-Ho (Dept. of Electrical Eng, Dong-A Univ.) ;
- Lee, Kwon-Soon (Division of Electrical, Electronics, and Computer Eng., Dong-A Univ.)
- 발행 : 2004.07.14
초록
In this paer, we propose a method to apply a decentralized control algorithm for passive velocity field control using virtual flywheel system to cooperative mobile robots. The considered system convey a common rigid object in a horizontal plain. The effectiveness of proposed control algorithm is examined by numerical simulation for cooperative tasks.
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