미지의 붐 진동을 위한 퍼지제어기를 사용한 탐사 로봇의 위치제어
- Title
- 미지의 붐 진동을 위한 퍼지제어기를 사용한 탐사 로봇의 위치제어
- Other Titles
- Position Control of Inspection Robot with Unknown Boom Vibration Using Fuzzy Controller
- Author
- 양해원
- Issue Date
- 2008-10
- Publisher
- 대한전기학회
- Citation
- 2008 CICS 정보 및 제어 학술대회 논문집, Page. 464-465
- Abstract
- This paper proposed a robust controller in order to handle the boom vibration of inspection robot. While a inspection robot moves on boom with vibration by weight occurs. Therefore, Boom as structure like cantilever beam appears vibration by weight of inspection robot. The Z axis of inspection robot operates with Sliding structure. inspection robot is used "Fuzzy Controller" for position control with Z axis. The developed robot system is composed of the specially designed car for inspection robot. The proposed Fuzzy Controllers are used to track position reference signal of Z axis. A Experiment verify that the proposed Fuzzy Controller design method can achieve favorable control performance with regard to external disturbance.
- URI
- http://www.dbpia.co.kr/Article/NODE01348463https://repository.hanyang.ac.kr/handle/20.500.11754/104895
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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