불확실한 파라미터를 갖는 비홀로노믹 이동로봇의 적응제어
Adaptive Control of a Nonholonomic Mobile Robot with Parametric Uncertainty
운동방정식 비홀로노믹 이동로봇;
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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.