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서진호(Jin-Ho Suh),Tring Hieu Bui,Tan Tien Nguyen,김상봉(Sang-Bong Kim) 대한기계학회 2003 대한기계학회 춘추학술대회 Vol.2003 No.4
This paper proposes an adaptive control algorithm for nonholonomic mobile robots with unknown<br/> parameters and the proposed control method is used in numerical simulations for applying to a practical twowheeled<br/> welding mobile robot(WMR). The proposed adaptive controller to track an arbitrary given welding<br/> path is designed by using back-stepping technique and is derived for a nonlinear model under the assumption<br/> such that the system parameters are partially known. Moreover, the proposed adaptive control system is stable<br/> in the sense of Lyapunov stability. Inertia moments of system are considered to be unknown parameters and<br/> their values can be estimated simply by using update laws proposed in an adaptive control scheme of this<br/> research. The simulation results are provided to show the effectiveness of the accurate tracking capability of<br/> the proposed controller for two-wheeled welding mobile robot with a smooth curved reference welding path.