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http://dx.doi.org/10.5302/J.ICROS.2007.13.12.1213

Internal-External Error Controller Design for Position Control of Vehicle  

Chung, Yong-Oug (진주국제대학교 자동차공학과)
Park, Chong-Kug (경희대학교 전자공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.13, no.12, 2007 , pp. 1213-1221 More about this Journal
Abstract
In most case of previous research about vehicle control system, external error occurred by unexpected environmental situation was hardly considered. However, in this paper, to have more accurate position control of differential derive vehicle, we separate the error as an internal error and external error. To calculate the vehicle position in real time, we introduced the Dead-Reckoning algorithms and the simulation result show that the proposed internal and external error control system has fast and accurate position tracking with remarkable diminishment of orientation error. The results reported here can easily be extended to the control of similar type vehicle.
Keywords
vehicle; internal error; external error; dead-reckoning; denavit-hartenburg; higher-pair; DOF; nonholonomic constraint;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
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