대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
- /
- Pages.315-318
- /
- 2005
네트워크 기반 이동로봇에 대한 이득 스케줄러 제어
Gain Scheduler Control for Networked Mobile Robot
초록
This paper characterizes the performance for a remote path tracking control of the mobile robot in IP network viamiddleware. The middleware is used to alleviate the effect of the delay time on a mobile robot path tracking in Network-Based Control environment. The middleware also can be implemented in a modular structure. Thus, a controller upgrade or modification for other types of network protocols or different control objectives can be achieved easily. A case study on a mobile robot path-tracking with IP network delays is described. The effectiveness of the proposed approach is verified by experimental results.