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http://dx.doi.org/10.5370/KIEE.2013.62.3.401

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

Kwon, Hae-Yeong (Dept. of Electrical Engineering, Dong-A University)
Choi, Ho-Lim (Dept. of Electrical Engineering, Dong-A University)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.62, no.3, 2013 , pp. 401-406 More about this Journal
Abstract
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.
Keywords
Mobile robot; Gain-scheduling; Singularity; Kinematic control; Dynamic control;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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