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이득 조절 제어기법을 이용한 모바일 로봇의 경로 추종 제어

Tracking Control of a Mobile Robot using Gain-scheduling Control Method

  • 권해영 (동아대학교 전기공학과) ;
  • 최호림 (동아대학교 전기공학과)
  • Kwon, Hae-Yeong (Dept. of Electrical Engineering, Dong-A University) ;
  • Choi, Ho-Lim (Dept. of Electrical Engineering, Dong-A University)
  • 투고 : 2012.08.23
  • 심사 : 2013.02.22
  • 발행 : 2013.03.01

초록

The mobile robot is one of the widely-used systems in service industry. We propose a gain-scheduling feedback controller for the tracking control of the mobile robot. The benefit of our proposed controller is that it avoids the singularity issue occurs with the controllers suggested in [4], [10]. Moreover, we show the stability analysis of the controlled system via a Lyapunov stability approach such that the exponential convergence of tracking error to zero is analytically provided. The simulation results show the validity of the proposed controller and improved control performance over the conventional controller.

키워드

참고문헌

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