Fuzzy Control System Using Nonlinear Friction Observer for the Mobile Robot

Title
Fuzzy Control System Using Nonlinear Friction Observer for the Mobile Robot
Authors
허욱열
Keywords
Fuzzy Control, Nonlinear Friction Observer, Mobile Robot
Issue Date
2002
Publisher
SPRINGER-VERLAG BERLIN
Series/Report no.
COMPUTATIONAL SCIENCE; Vol.2331
Abstract
In this paper, a fuzzy control system with the nonlinear friction observer is presented. This observer is used to compensate the nonlinear friction that makes the position accuracy in a wheeled mobile robot be limited. Adding the nonlinear friction observer in the system, the tracking accuracy of the robot is improved without any breakaway when it traces the reference trajectory. And experimental results show that the fuzzy controller with the observer has better performance even though it has difference between the right wheel inertia and the left wheel inertia.
URI
http://dspace.inha.ac.kr/handle/10505/29429
ISSN
0302-9743
Appears in Collections:
College of Engineering(공과대학) > Electrical Engineering (전기공학) > Local Access Journal, Report (전기공학 논문, 보고서)

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