Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2007.10a
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- Pages.285-286
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- 2007
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
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