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Stable PID Control for Mobile Robots
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| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Carmona, R.R. | - |
| dc.contributor.author | Sung, H.G. | - |
| dc.contributor.author | Kim, Y.S. | - |
| dc.contributor.author | Vazquez, H.A. | - |
| dc.date.accessioned | 2023-12-22T08:02:04Z | - |
| dc.date.available | 2023-12-22T08:02:04Z | - |
| dc.date.issued | 2018 | - |
| dc.identifier.issn | 0000-0000 | - |
| dc.identifier.uri | https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/8404 | - |
| dc.description.abstract | In order to guarantee asymptotic stability for mobile robot, proportional-integral-derivative (PID) controllers are needed. In this paper, we use an uncoupled linear PID controller with explicit conditions to control a mobile robot, in which semiglobal asymptotic stability of the linear PID controller was proven. Explicit conditions are given for choice the control gains of the linear PID controller, and assure the stability of the closed-loop system. Experimental studies for differential wheels robot are addressed. The theoretical analysis presented in this work provides a tool for the design and implementation experimentally of controllers on real mobile robots. ？ 2018 IEEE. | - |
| dc.format.extent | 6 | - |
| dc.language | 영어 | - |
| dc.language.iso | ENG | - |
| dc.publisher | Institute of Electrical and Electronics Engineers Inc. | - |
| dc.title | Stable PID Control for Mobile Robots | - |
| dc.type | Article | - |
| dc.identifier.doi | 10.1109/ICARCV.2018.8581132 | - |
| dc.identifier.scopusid | 2-s2.0-85060801070 | - |
| dc.identifier.bibliographicCitation | 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, pp 1891 - 1896 | - |
| dc.citation.title | 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018 | - |
| dc.citation.startPage | 1891 | - |
| dc.citation.endPage | 1896 | - |
| dc.type.docType | Conference Paper | - |
| dc.description.isOpenAccess | N | - |
| dc.description.journalRegisteredClass | scopus | - |
| dc.subject.keywordPlus | Asymptotic stability | - |
| dc.subject.keywordPlus | Closed loop systems | - |
| dc.subject.keywordPlus | Computer vision | - |
| dc.subject.keywordPlus | Electric control equipment | - |
| dc.subject.keywordPlus | Machine design | - |
| dc.subject.keywordPlus | Mobile robots | - |
| dc.subject.keywordPlus | Proportional control systems | - |
| dc.subject.keywordPlus | Robotics | - |
| dc.subject.keywordPlus | Three term control systems | - |
| dc.subject.keywordPlus | Two term control systems | - |
| dc.subject.keywordPlus | Control gains | - |
| dc.subject.keywordPlus | Design and implementations | - |
| dc.subject.keywordPlus | explicit conditions | - |
| dc.subject.keywordPlus | Linear pid | - |
| dc.subject.keywordPlus | Proportional integral derivative controllers | - |
| dc.subject.keywordPlus | Semi-global | - |
| dc.subject.keywordPlus | Controllers | - |
| dc.subject.keywordAuthor | explicit conditions | - |
| dc.subject.keywordAuthor | Mobile robots | - |
| dc.subject.keywordAuthor | stable PID control | - |
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Related Researcher
- Sung, Hong Gun
- 친환경해양개발연구본부 (심해공학연구센터)