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Chung, Tan-Lam;Bui, Trong-Hieu;Kim, Sang-Bong;Oh, Myung-Suck;Nguyen, Tan-Tien
- Journal of Mechanical Science and Technology
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- v.18 no.8
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- pp.1288-1296
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- 2004
Wall-following control problem for a mobile robot is to move it along a wall at a constant speed and keep a specified distance to the wall. This paper proposes wall-following controllers based on Lyapunov function candidate for a two-wheeled mobile robot (MR) to follow an unknown wall. The mobile robot is considered in terms of kinematic model in Cartesian coordinate system. Two wall-following feedback controllers are designed: full state feedback controller and observer-based controller. To design the former controller, the errors of distance and orientation of the mobile robot to the wall are defined, and the feedback controller based on Lyapunov function candidate is designed to guarantee that the errors converge to zero asymptotically. The latter controller is designed based on Busawon's observer as only the distance error is measured. Additionally, the simulation and experimental results are included to illustrate the effectiveness of the proposed controllers.
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Byuong-Oh;Jeon, Yang-Bae;Suh, Jin-Ho;Oh, Myung-Suk;Kim, Sang-bong
- International Journal of Precision Engineering and Manufacturing
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- v.4 no.2
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- pp.30-38
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- 2003
This paper proposed PID controller for torch slider and PD controller for motor right wheel. to control the motion of two-wheeled welding mobile robot with seam tracking sensor touched on welding line. The motion control is realized in the view of keeping constant welding velocity and precise seam tracking even though the target welding line is on straight line or curved line. The position and direction of the body of the mottle robot are controlled by using signal errors between seam tracking sensor and body positioning sensor attached on the end of torch slider and body side of the mobile robot, respectively. In turning motion, the body and the torch slider are controlled by using the kinematic model related with two motions of body turning and torch sliding. The straight locomotion is controlled according to eleven control patterns obtained from displacements between two sensors of the seam tracking sensor and the body positioning sensor. The effectiveness is proven through the experimental results fur lattice type welding line. Through the experimental results, we can see that the position value of the electrode end point and the welding velocity are controlled almost constantly both in straight and turning locomotion.
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Lim, Jong-Seok;Park, Jong-Hee;Sim, Jong-Sun
- Proceedings of the Korean Geotechical Society Conference
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- 2010.03a
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- pp.1077-1087
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- 2010
Generally most of pile foundations are constructed with group pile rather than single pile. The study on efficiency and bearing capacity which are major elements for rational design of this group pile has been actively progressed, whereas there are truly only a few studies of negative skin friction working on group pile due to the consolidation of ground. The purpose of this study is to determine, among the elements of negative skin friction applied to pile, the occurrence modality of negative skin friction at center, side, and corner of $3{\times}3$ group pile using model test and, based on those observations, to propose the effective design direction of group pile.
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