Design of an Adaptive PD Controller for the Weight-Independent Motion Control of a Mobile Robot
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kwak, Hwan-Joo | - |
dc.contributor.author | Park, Gwi-Tae | - |
dc.date.accessioned | 2021-09-06T15:40:54Z | - |
dc.date.available | 2021-09-06T15:40:54Z | - |
dc.date.created | 2021-06-18 | - |
dc.date.issued | 2012-09-12 | - |
dc.identifier.issn | 1729-8814 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/107464 | - |
dc.description.abstract | Previous research on mobile robots has been based on models of mobile robots with invariant weight parameters. However, the most practical mobile robots that bear heavy burdens have varying weights and centres of gravity. This paper suggests a design for an adaptive PD controller that estimates and adapts to the weight-related parameters of robots that bear varying heavy burdens. Using the suggested adaptive PD controller, the motion of mobile robots can be independent of the weight-related parameters and the operational performance is confirmed by target tracking simulations. | - |
dc.language | English | - |
dc.language.iso | en | - |
dc.publisher | SAGE PUBLICATIONS INC | - |
dc.subject | OPTIMIZATION | - |
dc.title | Design of an Adaptive PD Controller for the Weight-Independent Motion Control of a Mobile Robot | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Park, Gwi-Tae | - |
dc.identifier.doi | 10.5772/50981 | - |
dc.identifier.scopusid | 2-s2.0-84868102977 | - |
dc.identifier.wosid | 000309937200002 | - |
dc.identifier.bibliographicCitation | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, v.9 | - |
dc.relation.isPartOf | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | - |
dc.citation.title | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | - |
dc.citation.volume | 9 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Robotics | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.subject.keywordPlus | OPTIMIZATION | - |
dc.subject.keywordAuthor | adaptive PD control | - |
dc.subject.keywordAuthor | mobile robot | - |
dc.subject.keywordAuthor | weight-independent | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
(02841) 서울특별시 성북구 안암로 14502-3290-1114
COPYRIGHT © 2021 Korea University. All Rights Reserved.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.