|제목(국문)||불확실한 이동 로봇에 대한 RBFN 기반 적응 추종 제어기의 설계|
|제목(영문)||Design of an RBFN-based Adaptive Tracking Controller for an Uncertain Mobile Robot|
백운보 (Woon-Bo Baek ,동의대학교 메카트로닉스공학과, email:email@example.com ) ▷공저자 네트워크 보기
This paper proposes an RBFN-based adaptive tracking controller for an electrically driven mobile robot with parametric uncertainties and external disturbances. A mobile robot model considered in this paper includes all models of the robot body and actuators with uncertain kinematic and dynamic parameters, and uncertain frictions and external disturbances. The proposed controller consists of an RBFN(Radial Basis Function Network) and a robust adaptive controller. The presented RBFN is used to approximate unknown nonlinear robot dynamic functions. The proposed controller is adjusted by the adaptation laws obtained through the Lyapunov stability analysis. The proposed control scheme does not a priori need the accurate knowledge of all parameters in the robot kinematics, robot dynamics and actuator dynamics. Also, nominal parameter values are not required in the controller. The global stability of the closed-loop robot control system is guaranteed using the Lyapunov stability theory. Simulation results show the validity and robustness of the proposed control scheme.
|keyword||mobile robot, radial basis function network, adaptive tracking control, actuator dynamics, uncertainties|