|제목(국문)||스키드형 무인자율차량을 위한 신경망 기반 적응제어 기법 설계|
|제목(영문)||NN-based Adaptive Control for a Skid-type Autonomous Unmanned Ground Vehicle|
,Agency for Defense Development
주상현 (Sanghyun Joo ,Agency for Defense Development ) ▷공저자네트워크등록하기
This study proposes a NN (Neural Networks)-based adaptive control method for a 6X6 skid-type UGV (Unmanned Groimd Vehicle) with 6 in-wheel motors. The UGV experiences lots of uncertainties and, thus, the control performance can degrade significantly without a compensation of the unknown terms. To improve the control performance of the UGV, the NN is utilized to design the adaptive controller. Then, the designed overall force and moment are optimally distributed into 6 traction forces with the assumption that six vertical forces of the UGV are known exactly, because the six traction forces are original source to be excited to the UGV to move. Finally, numerical simulations with the TruckSim model ^re performed to validate the effectiveness of the proposed approach.
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