Çѱ¹Á¤º¸Åë½ÅÇÐȸ ³í¹®Áö (Journal of the Korea Institute of Information and Communication Engineering)
Current Result Document :
ÇѱÛÁ¦¸ñ(Korean Title) |
PDC¿Í ÀûºÐ ½½¶óÀ̵ù ¸ðµå Á¦¾î¸¦ °áÇÕÇÑ À̵¿ ·Îº¿ÀÇ °ÀÎ ±Ëµµ ÃßÀû Á¦¾î |
¿µ¹®Á¦¸ñ(English Title) |
Robust Trajectory Tracking Control of a Mobile Robot Combining PDC and Integral Sliding Mode Control |
ÀúÀÚ(Author) |
¹Ú¹Î¼ö
¹Ú½Â±Ô
¾ÈÈ£±Õ
°û±ºÆò
À±Å¼º
Min-soo Park
Seung-kyu Park
Ho-kyun Ahn
Gun-pyong Kwak
Tae-sung Yoon
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¿ø¹®¼ö·Ïó(Citation) |
VOL 19 NO. 07 PP. 1694 ~ 1704 (2015. 07) |
Çѱ۳»¿ë (Korean Abstract) |
º» ³í¹®¿¡¼´Â º´·Ä ºÐ»ê º¸»ó (PDC) Á¦¾î¿Í ÀûºÐ ½½¶óÀ̵ù ¸ðµå Á¦¾î (ISMC)¸¦ °áÇÕÇÏ¿© ¹ÙÄûÇü À̵¿ ·Îº¿ÀÇ °ÀÎÇÑ ±Ëµµ ÃßÀû Á¦¾î ¹æ¹ýÀ» »õ·Ó°Ô Á¦¾ÈÇÑ´Ù. PDC Á¦¾î ¹æ¹ýÀº ´Ù¸¥ ºñ¼±Çü Á¦¾î ¹æ¹ý¿¡ ºñÇØ ºñ±³Àû °£´ÜÇÏ°í »ç¿ëÀÌ Æí¸®ÇÏ´Ù. ±×¸®°í ISMC´Â »óÅ º¯¼öµéÀ» ¿øÇÏ´Â °øĪ µ¿Æ¯¼ºÀ» °®´Â ½½¶óÀ̵ù Æò¸é¿¡ ¹èÄ¡ÇÔÀ¸·Î½á Ãʱ⠼ø°£ºÎÅÍ ¸ðµ¨ ºÒÈ®½Ç¼º ¹× ¿Ü¶õ¿¡ ´ëÇØ °ÀÎÇÏ°í ¾ÈÁ¤ÀûÀÎ Á¦¾î Ư¼ºÀ» °®°Ô ÇÒ ¼ö ÀÖ´Ù. ±×·¯¹Ç·Î Á¦¾ÈµÈ PDC ISMC ±Ëµµ ÃßÀû Á¦¾î ¹æ¹ýÀº ¿Ü¶õ¿¡µµ ºÒ±¸ÇÏ°í °ÀÎÇÑ ±Ëµµ ÃßÀû Á¦¾î ¼º´ÉÀ» º¸¿©ÁØ´Ù. Á¦¾ÈµÈ ±Ëµµ ÃßÀû ¹æ¹ý¿¡ ´ëÇØ ½Ã¹Ä·¹À̼ÇÀ» ÅëÇÏ¿© ¿Ü¶õÀÌ ÀÖ´Â °æ¿ìÀÇ ±Ëµµ ÃßÀû ¼º´ÉÀ» È®ÀÎÇÏ¿´´Ù. Á¦¾ÈµÈ ¹æ¹ýÀº ¿Ü¶õÀÌ Áõ°¡ÇÏ´õ¶óµµ ¿Ü¶õÀÌ ¾øÀ» ¶§ÀÇ PDC Á¦¾î ¹æ¹ý¿¡ ÀÇÇÑ ±Ëµµ ÃßÀû ¼º´ÉÀ» À¯ÁöÇÏ¿´´Ù. ±×·¯³ª PDC ±Ëµµ ÃßÀû ¹æ¹ýÀº ¿Ü¶õÀÇ Å©±â°¡ Áõ°¡Çϸé Á¦¾ÈµÈ ¹æ¹ý°ú´Â ´Þ¸® ±Ëµµ ÃßÀû ¿ÀÂ÷°¡ Å©°Ô Áõ°¡ÇÔÀ» ¾Ë ¼ö ÀÖ¾ú´Ù.
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¿µ¹®³»¿ë (English Abstract) |
In this paper, a robust trajectory tracking control method of a wheeled mobile robot is newly proposed combining the PDC and the ISMC. The PDC is a relatively simple and easy control method for nonlinear system compared to the other non-linear control methods. And the ISMC can have robust and stable control characteristics against model uncertainties and disturbances from the initial time by placing the states on the sliding plane with desired nominal dynamics. Therefore, the proposed PDC ISMC trajectory tracking control method shows robust trajectory tracking performance in spite of external disturbance. The tracking performance of the proposed method is verified through simulations. Even though the disturbance increases, the proposed method keeps the performance of the PDC method when there is no disturbance. However, the PDC trajectory tracking control method has increasing tracking error unlike the proposed method when the disturbance increases.
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Å°¿öµå(Keyword) |
À̵¿ ·Îº¿
±Ëµµ ÃßÀû Á¦¾î
T-S ÆÛÁö ¸ðµ¨
PDC Á¦¾î
ÀûºÐ ½½¶óÀ̵ù ¸ðµå Á¦¾î
mobile robot
trajectory tracking control
T-S fuzzy model
PDC control
integral sliding mode control
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