대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2015년도 제46회 하계학술대회
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- Pages.1339-1340
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- 2015
세그웨이를 위한 낮은 복잡도를 갖는 제어기의 설계
A low-complexity controller design for Segway
- Kim, Byung-Woo (Chosun University) ;
- Hwang, Sung-Jo (Chosun University) ;
- Park, Bong Seok (Chosun University)
- 발행 : 2015.07.15
초록
In this paper, we propose a low-complexity control scheme for segway. To design the controller, we use the prescribed performance function and analyze the stability of the proposed control system using the Lyapunov stability theorem. By prescribed performance function, we can adjust the transient and steady-state response. Finally, the simulation results are provided to illustrate the effectiveness of the proposed scheme.
키워드