Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Motion control of a wheel-chair robot using CDM

계수도법을 이용한 휠체어 로봇의 자세제어

  • Park, Sung-Jin (Department of Control and Instrumentation Engineering, Pukyong National University) ;
  • Jeong, Sang-Chul (Department of Control and Instrumentation Engineering, Pukyong National University) ;
  • Kim, Gwan-Hyung (Department of Computer Engineering, Tongmyong University of Information Technology) ;
  • An, Young-Joo (Department of Control and Instrumentation Engineering, Pukyong National University) ;
  • Lee, Hyung-Ki (Department of Control and Instrumentation Engineering, Pukyong National University)
  • 박성진 (부경대학교 대학원 제어계측공학과) ;
  • 정상철 (부경대학교 대학원 제어계측공학과) ;
  • 김관형 (동명정보대학교 컴퓨터공학과) ;
  • 안영주 (부경대학교 제어계측공학과) ;
  • 이형기 (부경대학교 제어계측공학과)
  • Published : 2002.07.10
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Abstract

In this paper, I designed the inverter pendulum controller to controll the position of a wheel-chair. I used coefficient diagram method (CDM) to design the controller. The CDM is available, because it can make an engineer know all about the characteristic, stability, response time and robustness, of closed loop system. Writing this paper, I simulated the controller to know wheather is can controll the position of wheel-chair using the theorem of inverter pandulum controll, and I identified the usefulness of it.

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