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

The Korean Institute of Electrical Engineers (대한전기학회)
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Output Feedback Tracking Control of Wheeled Mobile Robots with Kinematic Disturbances

이동로봇의 기구학 외란 보상을 위한 출력 궤환 제어

  • Chwa, Dongkyoung (Dept. of Electrical and Computer Engineering, Ajou University)
  • Received : 2016.11.09
  • Accepted : 2016.11.14
  • Published : 2016.12.01
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Abstract

In this paper, we propose an output feedback tracking control method for the wheeled mobile robots with kinematic disturbances. The kinematic disturbances should be compensated to avoid the performance degradation. Also, the unavailable velocity of the mobile robot should be estimated. These should be estimated together by designing the nonlinear observer. Based on these estimates, the output feedback controller can be designed. The stability of the mobile robot control systems using the proposed method is rigorously analyzed and the simulation results are also provided to validate the proposed method.

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References

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