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

  • 제65권12호
  • /
  • Pages.2053-2056
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  • 2016
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  • 1975-8359(pISSN)
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  • 2287-4364(eISSN)
대한전기학회 (The Korean Institute of Electrical Engineers)
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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
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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.

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참고문헌

  1. Y. Kanayama, Y. Kimura, F. Miyazaki, and T. Noguchi, "A Stable Tracking Control Scheme for an Autonomous Mobile Robot," Proceedings of the IEEE International Conference on Robotics and Automation, pp. 384-389, Cincinatti, OH, 1990.
  2. C. Canudas de Wit and O. J. Sordalen, "Exponential Stabilization of Mobile Robot with Nonholonomic Constraints," IEEE Transactions on Automatic Control, Vol. 37, No. 11, pp. 1791-1797, Nov. 1992. https://doi.org/10.1109/9.173153
  3. D. Chwa, "Tracking Control of Differential-Drive Wheeled Mobile Robots using a Backstepping-like Feedback Linearization," IEEE Transactions on System, Man, and Cybernetics, Part A, Vol. 40, No. 6, pp. 1285- 1295, Nov. 2010. https://doi.org/10.1109/TSMCA.2010.2052605
  4. Z-. G. Hou, A-. M. Zou, L. Cheng, and M. Tan, "Adaptive Control of an Electrically Driven Nonholonomic Mobile Robot via Backstepping and Fuzzy Approach," IEEE Transactions on Control Systems Technology, Vol. 17, No. 4, pp. 803-815, 2009. https://doi.org/10.1109/TCST.2009.2012516
  5. T. Das and I. N. Kar, "Design and Implementation of an Adaptive Fuzzy Logic-Based Controller for Wheeled Mobile Robots," IEEE Transactions on Control Systems Technology, Vol. 14, No. 3, pp. 501-510, 2006. https://doi.org/10.1109/TCST.2006.872536
  6. M. L. Corradini, T. Leo, and G. Orlando, "Robust Stabilization of a Mobile Robot Violating the Nonholonomic Constraint via Quasi-Sliding Modes," Proceedings of the American Control Conference, San Diego, California, pp. 3935-3939, Jun. 1999.
  7. D. Chwa, "Fuzzy Adaptive Tracking Control of Wheeled Mobile Robots with State-Dependent Kinematic and Dynamic Disturbances," IEEE Transactions on Fuzzy Systems," Vol. 20, No. 3, pp. 587-593, Jun. 2012. https://doi.org/10.1109/TFUZZ.2011.2176738
  8. S. S. Ge, Z. Wang, and T. H. Lee, "Adaptive stabilization of uncertain nonholonomic systems by state and output feedback," Automatica, vol. 39, no. 8, pp. 1451-1460, August 2003. https://doi.org/10.1016/S0005-1098(03)00119-5
  9. B. S. Park, J. B. Park, and Y. H. Choi, "Adaptive Observer-based Trajectory Tracking Control of Nonholonomic Mobile Robots," International Journal of Control, Automation, and Systems, vol. 9, no. 3, pp. 534-541, Jun. 2011. https://doi.org/10.1007/s12555-011-0313-1
  10. D. Chwa, A. Dani, and W. Dixon, "Range and Motion Estimation of a Monocular Camera using Static and Moving Objects," IEEE Transactions on Control Systems Technology, vol. 24, no. 4, pp. 1174-1518, Jul. 2016. https://doi.org/10.1109/TCST.2015.2508001