이동 로봇의 추종 제어를 위한 이중 슬라이딩 표면에 기반한 슬라이딩 모드 제어

다국어 초록 (Multilingual Abstract)

This paper proposes a double sliding surfaces based on a sliding mode control for a tracking control of nonholonomic mobile robots in the Cartesian coordinates. In order to remove sliding surface constraints, we design the additional sliding surface for the heading angle with respect to the newly defined coordinates. Then, we define the switching law based on the posture error to combine the designed sliding surface with the previous one. By using the double sliding surfaces and the switching law, we obtain the control law for arbitrary trajectories. It is proved that the position tracking error and the heading direction error asymptotically converge to zero, respectively, with the Lyapunov stability theory. Finally, through computer simulations, we demonstrate the effectiveness of the proposed control system.

목차 (Table of Contents)

• Abstract
• I. 서론
• II. 이동 로봇의 기구학 모델
• III. 이동 로봇의 경로 추종 제어기 설계
• IV. 모의실험
• V. 결론
• REFERENCES

참고문헌 (Reference)

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2 천홍석, "동적 환경에서의 전방위 이동 로봇을 위한 서클 리스트(Circle List) 기반의 장애물 회피" 제어·로봇·시스템학회 17 (17): 1227-1233, 2011

3 Ngo Manh Dung, "Two-Wheeled Welding Mobile Robot for Tracking a Smooth Curved Welding Path Using Adaptive Sliding-Mode Control Technique" 제어·로봇·시스템학회 5 (5): 283-294, 2007

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14 B. S. Park, "A new sliding surface based tracking control of nonholonomic mobile robots" 14 (14): 842-847, 2008