Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Fuzzy+PID Controller for Bridge Inspection Robot

교량 탐사 로봇을 위한 퍼지+PID 제어기

  • Lee, An-Yong (Dept. of Elec. Elec. Con. & Inst. Eng. Hanyang Univ.) ;
  • Hwang, Young-Ho (Dept. of Elec. Elec. Con. & Inst. Eng. Hanyang Univ.) ;
  • Yang, Hai-Won (Dept. of Elec. Elec. Con. & Inst. Eng. Hanyang Univ.)
  • 이안용 (한양대학교 전자전기제어계측공학과) ;
  • 황영호 (한양대학교 전자전기제어계측공학과) ;
  • 양해원 (한양대학교 전자전기제어계측공학과)
  • Published : 2007.07.18
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Abstract

This paper presents a Fuzzy+PID control method for a Bridge Inspection Robot(BIR) system. The BIR has been developed with the aim of checking the safety status of a real bridge, gathering accurate data and performing maintenance. The developed robot system is composed of the specially designed car for bridge inspection, the guide rail and the inspection robot. The proposed Fuzzy+PID controllers are used to track speed reference signal of X axis and position reference signal of Z axis. Experimental results verify that the proposed Fuzz+PID control design method can achieve favorable control performance with regard to external disturbance.

Keywords