The Transactions of the Korean Institute of Electrical Engineers P (전기학회논문지P)
- Volume 53 Issue 4
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- Pages.201-204
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- 2004
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- 1229-800X(pISSN)
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- 2586-7792(eISSN)
Direct Adaptive Tracking Control For a Wheeled Mobile Robot
바퀴구동 이동로봇의 경로추적 직접적응제어
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이용근
(인하공업전문대학 전기정보과학과)
- Received : 2004.10.25
- Accepted : 2004.11.24
- Published : 2004.12.01
Abstract
In this paper, a direct adaptive tracking controller based Lyapunov method is designed for a wheeled mobile robots. A wheeled mobile robots have three degrees of freedom and two control variables. Therefore, it is difficult to control a mobile robot using the general linear control. We introduce two kinds of Lyapunov function for the design of the controller and verify the controller. A mobile robots using the designed adaptive direct tracking controller is well-behaved and is easily implemented.
Keywords