모델참조 적응 퍼지제어기를 이용한 휠베이스 이동 로봇의 궤적 추적 제어

다국어 초록 (Multilingual Abstract)

This paper presents a design scheme of torque control for wheeled mobile robot (WMR) to asymptotically track the target reference trajectory. By considering the kinematic model of WMR, trajectory tracking control generates the desired tracking trajectory, which is transformed into the command velocity vector for the real WMR to track the target reference trajectory. The dynamic equation of the state error between the target reference trajectory and the desired tracking trajectory is represented by Takagi-Sugeno fuzzy model, and this model is used as the reference model for the real mobile robot error dynamics to follow. The control parameters are updated by adaptive laws that are designed for the error states of the real WMR to asymptotically follow the states of reference error model for the desired tracking trajectory. The proposed control is applied to a typical wheeled mobile robot and simulation studies are carried out to verify the validity and effectiveness of the control scheme.

목차 (Table of Contents)

• Abstract
• Ⅰ. 서론
• Ⅱ. 이동로봇의 궤적 추적 제어
• Ⅲ. 동역학을 고려한 궤적추종 제어기의 설계
• Ⅳ. 시뮬레이션 및 결과
• Ⅴ. 결론
• 참고문헌

참고문헌 (Reference)

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