Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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PID Controller Based on Sliding Mode Control for Bridge Inspection Robot

교량 탐사 로봇을 위한 Sliding Mode 제어를 기반으로 한 PID 제어기

  • Lee, An-Yong (Dept. of Elec. Elec. Con. & Inst. Eng, Hanyang Univ.) ;
  • Lee, Seung-Chul (Dept. of Elec. Elec. Con. & Inst. Eng, Hanyang Univ.) ;
  • Oh, Je-Keun (Dept. of Elec. Elec. Con. & Inst. Eng, Hanyang Univ.) ;
  • Choi, Young-Jin (Dept. of Elec. Elec. Con. & Inst. Eng, Hanyang Univ.) ;
  • Yang, Hai-Won (Dept. of Elec. Elec. Con. & Inst. Eng, Hanyang Univ.)
  • 이안용 (한양대학교 전자전기제어계측공학과) ;
  • 이승철 (한양대학교 전자전기제어계측공학과) ;
  • 오제근 (한양대학교 전자전기제어계측공학과) ;
  • 최영진 (한양대학교 전자전기제어계측공학과) ;
  • 양해원 (한양대학교 전자전기제어계측공학과)
  • Published : 2007.10.26
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Abstract

This paper presents a robust controller in order to handle the guide rail vibrations of Bridge Inspection System. While a Bridge Inspection Robot moves on guide rails with vibration by weight occurs. Therefore, Guide rail as structure like cantilever beam appears vibration by weight of Bridge Inspection Robot. The Z axis of Bridge Inspection Robot operates with Scissors structure. Bridge Inspection Robot is used 'PID Controller based on Sliding Mode control' for position control with Z axis. At the result of, this paper is applied to simulation about position control regarding vibration to occur with Z axis.

Keywords