대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2007년도 제38회 하계학술대회
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- Pages.1644-1645
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- 2007
모델 불확실성과 외란이 있는 이동 로봇을 위한 적응 슬라이딩 모드 제어
Adaptive Sliding Mode Control for Nonholonomic Mobile Robots with Model Uncertainty and External Disturbance
- Park, Bong-Seok (Dept. Electrical & Electronic Engineering Yonsei University) ;
- Choi, Yoon-Ho (School of Electronic Engineering Kyonggi University) ;
- Park, Jin-Bae (Dept. Electrical & Electronic Engineering Yonsei University)
- 발행 : 2007.07.18
초록
This paper proposes an adaptive sliding mode control method for trajectory tracking of nonholonomic mobile robots with model uncertainties and external disturbances. The kinematic model represented by polar coordinates are considered to design a robust control system. Wavelet neural networks (WNNs) are employed to approximate arbitrary model uncertainties in dynamics of the mobile robot. From the Lyapunov stability theory, we derive tuning algorithms for all weights of WNNs and prove that all signals of an adaptive closed-loop system are uniformly ultimately bounded.
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