본문 바로 가기

로고

국내 최대 기계 및 로봇 연구정보
통합검색 화살표
  • EzOPT MOLD
  • 국내학술지

    197 0
    국내학술지 제목 게시판 내용
    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
    저자 신진호 (Jin-Ho Shin ,동의대학교 메카트로닉스공학과 ) ▷공저자네트워크등록하기
    백운보 (Woon-Bo Baek ,동의대학교 메카트로닉스공학과, email:wbbaek@dongeui.ac.kr ) ▷공저자 네트워크 보기
    초록
    초록(영문)

    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
    저널명 제어로봇시스템학회논문지 ▷관련저널보기
    VOL 20
    PAGE 1238-1245
    발표년도 2014
    국문File 국문다운로드
    영문File
    • 페이스북아이콘
    • 트위터 아이콘

    서브 사이드

    서브 우측상단1