著者

大屋 勝敬 和田 慎 小林 敏弘

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.40, no.4, pp.474-476, 2004-04-30 (Released:2009-03-27)

参考文献数

13

被引用文献数

1

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By using velocity estimation a new robust trajectory tracking control scheme is developed in this paper for wheeled mobile robots. The developed controller has the following features; i) The proposed controller has robustness not only for the weight and the moment of inertia but also for radius of wheels and distance from the reference point to both wheels. ii) It is easy by using design parameters to improve tracking performance.