부산대학교 도서관

Robot tracking application mostly needs prefixed initial postion and orientation from the target location. The problem becomes complicated when the target moves with time. It always needs better controller with quick error convergence and travel distance to track the moving target In this work, the performance of three controllers in tracking a moving reference is compared with possible variation in orientation of the mobile robot. Periodic control in Lyapunov framework is having both shortest distance travel and error convergence for any orientation form 0° to 180° It is observed that the PCL controller suits better for any orientation between the limits when compared to conventional linear controller and nonlinear Lyapunov controller.