Earticle

초록

영어

The trajectory tracking problem of a wheeled omnidirectional robot is addressed in this paper. The proposed controller takes into account the dynamics of the wheeled omnidirectional robot when adaptive linear control with computed torque is utilized for tracking its trajectory. The computed torque method was employed to follow a reference trajectory but there were certain degrees of uncertainties in parameters such as estimation of mass and inertia which caused the performance to deviate from the ideal case. The adaptive linear control method is used to overcome the degradation of the computed torque when there is drift in vehicle parameters. Lyapunov stability criteria was utilized to prove that the proposed adaptive linear control with computed torque method is stable. The proposed strategy was evaluated through numerical simulation which showed the better performance in tracking a reference signal of the adaptive linear control with computed torque method as compared to computed torque method only.

목차

Abstract
 1. Introduction
 2. Omni Vehicle Structure and Dynamics
  2.1. Omni Vehicle Dynamics
  2.2. Motor Dynamics
 3. Control
  3.1. Computed Torque (CT)
  3.2. Adaptive Computed Torque
  3.3. Regressor Matrix for the Vehicle
  3.4. Estimation of q
 4. Simulation Results
 5. Conclusion
 References

키워드

저자

• Ansu Man Singh [ Department of Electronics and Information Engineering, Chonbuk National University, South Korea ]
• Felipe P. Vista IV [ Department of Electronics and Information Engineering, Chonbuk National University, South Korea ]
• Kil To Chong [ Department of Electronics and Information Engineering, Chonbuk National University, South Korea ] Corresponding Author

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605