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Adaptive Control of a Nonholonomic Mobile Robot with Parametric Uncertainty

  • 저자

    백종익

  • 학위수여기관

    고려대학교 대학원

  • 학위구분

    국내석사

  • 학과

    전기공학과

  • 지도교수

  • 발행년도

    2004

  • 총페이지

    ⅳ, 47p.

  • 키워드

    운동방정식 비홀로노믹 이동로봇;

  • 언어

    kor

  • 원문 URL

    http://www.riss.kr/link?id=T10072013&outLink=K  

  • 초록

    This thesis presents two adaptive control schemes for parking or posture stabilization of a nonholonomic mobile robot of an unicycle type with parameter uncertainty. The kinematics of the mobile robot can be described with Brockett's nonholonomic integrator, which can be also transformed easily into cylindrical coordinates. The proposed control laws are designed in the cylindrical coordinates together with the estimation laws to deal with the uncertain parameters, and are shown to be stable via Lyapunov's and Barbarlat's theorems. However, not all the state variables are guaranteed to approach zero by the two adaptive methods, and thus a hybrid adaptive scheme combining these two is also presented. The effectiveness of the proposed schemes is demonstrated through simulations.


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