DC Field | Value | Language |
---|---|---|
dc.contributor.author | Seo, K | - |
dc.contributor.author | Lee, JS | - |
dc.date.accessioned | 2016-04-01T01:59:29Z | - |
dc.date.available | 2016-04-01T01:59:29Z | - |
dc.date.created | 2009-03-20 | - |
dc.date.issued | 2006-01 | - |
dc.identifier.issn | 0169-1864 | - |
dc.identifier.other | 2006-OAK-0000005738 | - |
dc.identifier.uri | https://oasis.postech.ac.kr/handle/2014.oak/24165 | - |
dc.description.abstract | This paper proposes a robust path-following control method of a kinematic mobile robot system subject to bounded angular velocity error. The angular velocity error usually arises from imperfect performance of the dynamic control system. Given a kinematic model of the mobile robot system with bounded angular velocity error, we present a stable and robust path-following controller which is based on the sliding mode control technique and prove that the path-following errors (the lateral distance and orientation error) are ultimately bounded. In addition, the safety margin of the lateral distance error is defined, which is useful for higher-level path-planning tasks. The feasibility of the proposed controller has been demonstrated through simulation tests. | - |
dc.description.statementofresponsibility | X | - |
dc.language | English | - |
dc.publisher | VSP BV | - |
dc.relation.isPartOf | ADVANCED ROBOTICS | - |
dc.subject | wheeled mobile robots | - |
dc.subject | path following | - |
dc.subject | non-holonomic constraints | - |
dc.subject | sliding mode control | - |
dc.subject | robust control | - |
dc.subject | CONSTRAINTS | - |
dc.title | Kinematic path-following control of a mobile robot under bounded angular velocity error | - |
dc.type | Article | - |
dc.contributor.college | 전자전기공학과 | - |
dc.identifier.doi | 10.1163/156855306775275512 | - |
dc.author.google | Seo, K | - |
dc.author.google | Lee, JS | - |
dc.relation.volume | 20 | - |
dc.relation.issue | 1 | - |
dc.relation.startpage | 1 | - |
dc.relation.lastpage | 23 | - |
dc.contributor.id | 10200285 | - |
dc.relation.journal | ADVANCED ROBOTICS | - |
dc.relation.index | SCI급, SCOPUS 등재논문 | - |
dc.relation.sci | SCIE | - |
dc.collections.name | Journal Papers | - |
dc.type.rims | ART | - |
dc.identifier.bibliographicCitation | ADVANCED ROBOTICS, v.20, no.1, pp.1 - 23 | - |
dc.identifier.wosid | 000235733200001 | - |
dc.date.tcdate | 2019-01-01 | - |
dc.citation.endPage | 23 | - |
dc.citation.number | 1 | - |
dc.citation.startPage | 1 | - |
dc.citation.title | ADVANCED ROBOTICS | - |
dc.citation.volume | 20 | - |
dc.contributor.affiliatedAuthor | Lee, JS | - |
dc.identifier.scopusid | 2-s2.0-33644599153 | - |
dc.description.journalClass | 1 | - |
dc.description.journalClass | 1 | - |
dc.description.wostc | 7 | - |
dc.type.docType | Article | - |
dc.subject.keywordAuthor | wheeled mobile robots | - |
dc.subject.keywordAuthor | path following | - |
dc.subject.keywordAuthor | non-holonomic constraints | - |
dc.subject.keywordAuthor | sliding mode control | - |
dc.subject.keywordAuthor | robust control | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Robotics | - |
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