Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Internal-External Error Controller Design for Position Control of Vehicle

운반체의 위치제어를 위한 내부.외부오차 제어기 설계

  • 정용욱 (진주국제대학교 자동차공학과) ;
  • 박종국 (경희대학교 전자공학과)
  • Published : 2007.12.01
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Abstract

In most case of previous research about vehicle control system, external error occurred by unexpected environmental situation was hardly considered. However, in this paper, to have more accurate position control of differential derive vehicle, we separate the error as an internal error and external error. To calculate the vehicle position in real time, we introduced the Dead-Reckoning algorithms and the simulation result show that the proposed internal and external error control system has fast and accurate position tracking with remarkable diminishment of orientation error. The results reported here can easily be extended to the control of similar type vehicle.

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References

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