| 제목 |
수동 속도장 제어법을 이용한 협조 이동로봇 시스템의 분산제어 |
| 분야 |
생산기술 |
| 언어 |
Korean |
| 저자 |
서진호(동아대학교), 이권순(동아대학교) |
| Key Words |
Decentralized control(분산제어), Mobile Robot(이동로봇), Nonholonomic constraint(구속조건), Passive velocity field control(수동 속도장 제어), Passivity(수동성), Robustness(강인성) |
| 초록 |
In this paper, we propose a method to apply a decentralized control algorithm for passive velocity field control using virtual flywheel system to cooperative 3-wheeled mobile robots, and these subsystem are under nonholonomic constraints. The considered robotic systems convey a common rigid object in a horizontal plain. Moreover we will proof the passivity and robustness for cooperative mobile robotic systems with decentralized passive velocity field control. Finally, The effectiveness of proposed control algorithm is examined by numerical simulation for cooperation tasks with 3-wheeled mobile robot systems. |
| 원문(PDF) |
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