IEEE.org| IEEE Xplore Digital Library| IEEE Standards| IEEE Spectrum| More Sites

Cart (Loading....) | Create Account | 

Close category search window
Author Searchbeta |  Advanced Search  |  Preferences |  Search Tips  |  More Search Options  
 
Browse Conference Publications > Consumer Electronics (ICCE), ... Help

Design of adaptive PD controller for weight independent target tracking of home service mobile robot

Full Text Sign-In or Purchase

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing! close button
puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Hwan-Joo Kwak ; Korea Univ., Seoul, South Korea ; Gwi-Tae Park

The previous researches for mobile robots are based on the model of mobile robot with invariant weight parameters. However, the most practical mobile robots that bring heavy burden have variant weight parameters: robot's weight and center of gravity. This paper suggests the design of adaptive PD controller, which estimates and adapts the weight parameters of the robots, for a home service mobile robot that brings varying heavy burden. Using the suggested adaptive PD controller, the motion of mobile robots can be independent of the weight parameters, and the operational performance is confirmed by the simulations of target tracking.

Published in:
Consumer Electronics (ICCE), 2011 IEEE International Conference on

Date of Conference: 9-12 Jan. 2011

Page(s):
779 - 780
ISSN :
2158-3994
Print ISBN:
978-1-4244-8711-0
INSPEC Accession Number:
11851837
Conference Location :
Las Vegas, NV
Digital Object Identifier :
10.1109/ICCE.2011.5722859
Product Type:
Conference Publications

IEEE Account

Purchase Details

Profile Information

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2013 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.