한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제24권4호
  • /
  • Pages.68-75
  • /
  • 2007
  • /
  • 1225-9071(pISSN)
  • /
  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

부분 피드백 선형화를 이용한 One-wheel Unicycle Robot의 자세 제어

The Posture Control of One-wheel Unicyle Robot Using Partial Feedback Linearization

  • 김진석 (삼성전자 생산기술연구소) ;
  • 조영진 (중앙대학교 기계공학과 메카트로닉스연구실) ;
  • 김영탁 (중앙대학교 기계공학과)
  • 발행 : 2007.04.01
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초록

In this study, the ultimate goal is to acquire stability when turning around efficiently by using the controller which is applied partial feedback linearization of One-wheel Unicycle Robot. When moving around, linear controller could result in unstable factor according to widening operation range. So in order to reduce instability, 1 have developed Non-linear Controller using Partial Feedback Linearization. Compared with linear controller, Non-linear Controller guarantees the superiority of Regulating Control and Tracking Control in direct and also revolution motion of Robot. I'm sure of the Non-linear controller performance through many experiments.

키워드

참고문헌

  1. Vos, D.W. and Von Flotow, A. H., 'Dynamics and nonlinear adaptive control of an autonomous unicycle: theory and experiment,' Decision and Control, Proceedings of the 29th IEEE Conference, Vol. 1, pp.182-187, 1990
  2. Ou, Y. S. and Xu, Y. S., 'Balance control of a single wheel robot,' Intelligent Robots and System, IEEE/RSJ International Conference, Vol. 2, pp.2043-2048, 2002
  3. Kim, J. W. and Jeong, H. G, 'Fuzzy Rule for Curve Path Tracking of a Unicycle Robot,' Proceeding of the KSPE Autumn Annual Meeting, pp.425-429, 1996
  4. Ha, Y. and Yuta, S., 'Trajectory tracking control for navigation of self-contained mobile inverse pendulum,' Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', Vol. 3, pp.187S-1882, 1994