http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
김도욱,양해원,윤지섭,Kim, Do-Uk,Yang, Hae-Won,Yun, Ji-Seop 대한전기학회 2000 전기학회논문지 D Vol.52 No.1
A fuzzy PID controller is proposed for the posture control of a two DOF robot vehicle inspecting the defects of the inner wall of sewage pipes. The main difficulty in controlling these kinds of vehicles lies in that the center of two mobile shafts does not coincide with the weight center of the vehicle due to its long and wide shape. In this case the previous controller, based on the assumption that the gap between these centers are small, can not guarantee satisfactory transient response characteristics. In this paper, this gap is included in the mathematical modelling of the robot kinematics, and in order to compensate the unsatisfactory transient response characteristics, the fuzzy PID controller is proposed. This controller tunes the PID control gains with respect to the current state of the errors between the reference and the current postures. A series of simulations has been performed to investigate the tracking performance of the proposed controller for the lane changing path and the robustness to the external disturbance. The simulation results show that the proposed controller has a satisfactory tracking performance in the transient state as compared with that of the backstepping control given in reference.
파라미터 적응을 이용하는 로보트 매니퓰레이터의 위치/힘 제어
유동영,김웅석,양해원 한양대학교 공학기술연구소 1992 공학기술논문집 Vol.1 No.1
Adaptive hybrid position/force controller for constrained manipulator with uncer dynamic model parameters and environment stiffness is presented. In this paper, the complia frame model is constructed by independent positions and forces to be controlled. The adap controller based on this compliance frame dynamic model is designed. Lyapunov theory is u for contoller design and stability analysis.