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이동로봇의 기구학 외란 보상을 위한 출력 궤환 제어

Output Feedback Tracking Control of Wheeled Mobile Robots with Kinematic Disturbances

  • Chwa, Dongkyoung (Dept. of Electrical and Computer Engineering, Ajou University)
  • 투고 : 2016.11.09
  • 심사 : 2016.11.14
  • 발행 : 2016.12.01

초록

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.

키워드

참고문헌

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