지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2003.4
- 수록면
- 786 - 791 (6page)
이용수
초록· 키워드
오류제보하기
This paper proposes an adaptive control algorithm for nonholonomic mobile robots with unknown
parameters and the proposed control method is used in numerical simulations for applying to a practical twowheeled
welding mobile robot(WMR). The proposed adaptive controller to track an arbitrary given welding
path is designed by using back-stepping technique and is derived for a nonlinear model under the assumption
such that the system parameters are partially known. Moreover, the proposed adaptive control system is stable
in the sense of Lyapunov stability. Inertia moments of system are considered to be unknown parameters and
their values can be estimated simply by using update laws proposed in an adaptive control scheme of this
research. The simulation results are provided to show the effectiveness of the accurate tracking capability of
the proposed controller for two-wheeled welding mobile robot with a smooth curved reference welding path.
parameters and the proposed control method is used in numerical simulations for applying to a practical twowheeled
welding mobile robot(WMR). The proposed adaptive controller to track an arbitrary given welding
path is designed by using back-stepping technique and is derived for a nonlinear model under the assumption
such that the system parameters are partially known. Moreover, the proposed adaptive control system is stable
in the sense of Lyapunov stability. Inertia moments of system are considered to be unknown parameters and
their values can be estimated simply by using update laws proposed in an adaptive control scheme of this
research. The simulation results are provided to show the effectiveness of the accurate tracking capability of
the proposed controller for two-wheeled welding mobile robot with a smooth curved reference welding path.
목차
Abstract
1. 서론
2. 용접용 이륜 이동로봇의 모델링
3. 적응제어 알고리즘
4. 모의실험
5. 결론 및 고찰
참고문헌
참고문헌 (0)
참고문헌 신청함께 읽어보면 좋을 논문
논문 유사도에 따라 DBpia 가 추천하는 논문입니다. 함께 보면 좋을 연관 논문을 확인해보세요!
-
Adaptive Tracking Control of Two-Wheeled Welding Mobile Robot with Smooth Curved Welding Path
Journal of Mechanical Science and Technology
2003 .11
-
완만한 곡선경로 추적용 이륜 용접이동로봇의 제어
한국마린엔지니어링학회 학술대회 논문집
2006 .06
-
Adaptive Control for Tracking Trajectory of a Two-Wheeled Welding Mobile Robot with Unknown Parameters
제어로봇시스템학회 국제학술대회 논문집
2003 .10
-
Adaptive Tracking Control of Two-Wheeled Welding Mobile Robot - Dynamic Model Approach
대한전기학회 학술대회 논문집
2002 .07
-
Two-Wheeled Welding Mobile Robot for Tracking a Smooth Curved Welding Path Using Adaptive Sliding-Mode Control Technique
International Journal of Control, Automation, and Systems
2007 .06
-
Control of a Two-Wheeled Welding Mobile Robot with Unknown System Parameters
제어로봇시스템학회 합동학술대회 논문집
2003 .12
-
Two-Wheeled Welding Mobile Robot for Tracking a Smooth Curved Welding Path Using Adaptive Sliding-Mode Control Technique
International Journal of Control Automation and Systems
2007 .06
-
Sliding Mode Control of Two-Wheeled Welding Mobile Robot for Tracking Smooth Curved Welding Path
Journal of Mechanical Science and Technology
2004 .07
-
Nonlinear Adaptive Sliding Mode Control of Nonholonomic Two-Wheeled Welding Mobile Robot for Tracking a Smooth Curved Path
제어로봇시스템학회 합동학술대회 논문집
2003 .12
-
Control of Three-Wheeled Welding Mobile Robot
대한전기학회 학술대회 논문집
2002 .07
-
Path Following Control of Mobile Robot Using Lyapunov Techniques and PID Cntroller
INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGENT SYSTEMS
2011 .03
-
A Study on Unknown Parameter Adaptive Control for Welding Mobile Manipulator
제어로봇시스템학회 합동학술대회 논문집
2003 .12
-
Path Following Control For Mobile Robots Using Model Algorithm Control
대한전기학회 학술대회 논문집
2007 .10
-
A Nonlinear Controller of a Two-Wheeled Welding Mobile Robot Track ing Smooth-Curved Welding Path Using Sliding Mode Control
제어로봇시스템학회 국제학술대회 논문집
2003 .10
-
A Simple Nonlinear Control of a Two-Wheeled Welding Mobile Robot
International Journal of Control, Automation, and Systems
2003 .03
-
A Simple Nonlinear Control of a Two-Wheeled Welding Mobile Robot
International Journal of Control Automation and Systems
2003 .03
-
Application of Tracking Control to Welding Mobile Robot Based on Adaptive Backstepping
제어로봇시스템학회 합동학술대회 논문집
2003 .12
-
Control of Mobile Manipulator for Tracking Vertical Smooth Welding Trajectory
한국동력기계공학회 학술대회 논문집
2004 .05
-
Tracking control for wheeled mobile robots with slipping effects
대한전자공학회 학술대회
2010 .06
-
적응제어기법에 의한 산업용 로봇의 정밀위치제어
한국생산제조학회 학술발표대회 논문집
2006 .05
이 논문의 저자 정보
최근 본 자료
댓글(0)
0
UCI(KEPA) : I410-ECN-0101-2009-550-014203434