J-064
Robust Learning of Mobile Robotic Motion
Authors: Tae-Yong Kuc and Seung-Min Baek
Affiliation: Intelligent Control and Dynamic Simulation Lab, School of Electrical
and Computer Eng, Sung Kyun Kwan University
Abstract
This paper presents a robust learning controller for tracking of nonholonomic mobile
robot which enables kinematic steering and velocity dynamics learning of mobile robot
system simultaneously.In the learning controller, the velocity dynamics learning
control takes part in tracking of the reference velocity trajectory by learning the
inverse function of robot dynamics while the reference velocity control input plays
a role in stabilizing the kinematic steering system to the desired reference model
of kinematic system even without using the assumption of perfect velocity tracking.
It is shown that all the error signals in the learning control system are bounded
and the robot motion trajectory converges to the desired one uniformly and asymptotically.
The proposed learning controller is applied to robotic soccer syetem to prove its
feasibility and effectiveness.
Intelligent Control and Dynamic Simulation Lab
School of Electrical and Computer Eng
Sung Kyun Kwan University
Chunchun-dong 300, Changan-gu, Suwon
Kyungki-do 440-746, KOREA
Tel/Fax: +82-331-290-7137/5819,7191
tykuc@yurim.skku.ac.kr
hotshot@yurim.skku.ac.kr