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The Transactions P of the Korean Institute of Electrical Engineers

Korean Journal of Air-Conditioning and Refrigeration Engineering

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Title	Direct Adaptive Tracking Control For a Wheeled Mobile Robot
Authors	이용근(Lee, Yong-Geun)
Page	pp.201-204
ISSN	1229-800X
Keywords	3 degrees of freedom ; wheeled mobile robot ; Lyapunov function ; direct adaptive tracking control
Abstract	In this paper, a direct adaptive tracking controller based Lyapunov method is designed for a wheeled mobile robots. A wheeled mobile robots have three degrees of freedom and two control variables. Therefore, it is difficult to control a mobile robot using the general linear control. We introduce two kinds of Lyapunov function for the design of the controller and verify the controller. A mobile robots using the designed adaptive direct tracking controller is well-behaved and is easily implemented.

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