전기학회논문지 (The Transactions of The Korean Institute of Electrical Engineers)

  • 제57권7호
  • /
  • Pages.1241-1246
  • /
  • 2008
  • /
  • 1975-8359(pISSN)
  • /
  • 2287-4364(eISSN)
대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

LabVIEW를 이용한 이동로봇 위치제어를 위한 PI제어기 구현

An Implementation of PI Controller for the Position Control of Mobile Robot Using LabVIEW

  • 박영환 (충주대 전기전자 및 정보 공학부 정보제어) ;
  • 이재경 (충주대 전기전자 및 정보 공학부 정보제어)
  • 발행 : 2008.07.01
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초록

The dynamics of mobile robot is nonlinear. To cope with this nonlinearity, many advanced control schemes have been proposed recently. Generally, the advanced control schemes are complicated and not good for the practical real-time control when they are implemented as control programs. So, in this paper, a relatively simple PI controller is proposed and applied to the position control of mobile robot with the adoption of reference trajectory calculation method used for the AUV(Autonomous Underwater Vehicle) control. The proposed PI controller is programmed using LabVIEW which is popular for its graphical programming characteristics. The simulation and experimental results show the feasibility and effectiveness of the proposed PI controller.

키워드

참고문헌

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  2. 노영식, 박경섭, 'PDS를 이용한 이동 로봇의 위치보정', 대한 전기학회 논문지, 44권 8호, pp. 1100-1107, 1995
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