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Motion Control of a Wheeled Mobile Robot Using Digital Acceleration Control Method
http://hdl.handle.net/10173/1486
http://hdl.handle.net/10173/1486ebfb9532-2131-40ca-863c-9440534c7f5a
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
28-7.pdf (492.2 kB)
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| Item type | 学術雑誌論文 / Journal Article(1) | |||||
|---|---|---|---|---|---|---|
| 公開日 | 2017-03-24 | |||||
| タイトル | ||||||
| タイトル | Motion Control of a Wheeled Mobile Robot Using Digital Acceleration Control Method | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Wheeled mobile robot | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Nonlinear friction | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Motion control | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Digital acceleration control | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Path-tracking | |||||
| 資源タイプ | ||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
| 資源タイプ | journal article | |||||
| 著者 |
Wang, Yina
× Wang, Yina× Wang, Shuoyu× Tan, Renpeng× Jiang, Yinlai |
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| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | Wheeled mobile robots are widely used in industry, ports, and agriculture because they have the necessary loading capability. High performance path-tracking is very important for the mobile robot to precisely follow the designed cargo-carrying path. However, the mobile robot sometimes strays from the prede ned path because of center-of-gravity (COG) shifts, load changes caused by loads, and nonlinear friction in the wheels. To address these issues, a dynamics model, which considers COG shifts, load changes, and nonlinear friction, is derived and a digital acceleration control algorithm is proposed for the mobile robot. Simulations are executed using the proposed method and the results demonstrate the feasibility and effectiveness of the proposed digital acceleration control method by comparing with a proportional-integral (PI) controller. | |||||
| 書誌情報 |
International Journal of Innovative Computing, Information and Control 巻 9, 号 1, p. 387-396, 発行日 2013-01 |
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| ISSN | ||||||
| 収録物識別子タイプ | ISSN | |||||
| 収録物識別子 | 1349-4198 | |||||
| 権利 | ||||||
| 権利情報 | ICIC International © 2013 | |||||
| 著者版フラグ | ||||||
| 出版タイプ | VoR | |||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
| 出版者 | ||||||
| 出版者 | ICIC International | |||||
