Journal of the Institute of Electronics and Information Engineers (전자공학회논문지)

The Institute of Electronics and Information Engineers (대한전자공학회)
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FL Deadzone Compensation of a Mobile robot

이동로봇의 퍼지 데드존 보상

  • 장준오 (위덕대학교 소프트웨어공학과)
  • Received : 2012.12.22
  • Published : 2013.04.25
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Abstract

A control structure that makes possible the integration of a kinematic controller and a fuzzy logic (FL) deadzone compensator for mobile robots is presented. A tuning algorithm is given for the fuzzy logic parameters, so that the deadzone compensation scheme becomes adaptive, guaranteeing small tracking errors and bounded parameter estimates. Formal nonlinear stability proofs are given to show that the tracking error is small. The fuzzy logic deadzone compensator is implemented on a mobile robot to show its efficacy.

이동로봇의 역학 제어기와 퍼지 데드존 보상기가 결합된 제어구조를 제안한다. 데드존 보상이 적응적이고 추적오차와 파라미터 추정치가 유계가 되는 퍼지논리 파라미터 동조알고리듬과 안정도 증명을 제시한다. 퍼지논리 데드존 보상기를 이동로봇에 시뮬레이션 및 실험함으로써 데드존의 해로운 영향을 줄이는 효과를 보여준다.

Keywords

References

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