대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

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

  • 서진호 (동아대학교 전기공학과) ;
  • 이권순 (동아대학교 전기전자컴퓨터공학부)
  • 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
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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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