제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제18권3호
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  • Pages.275-284
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  • 2012
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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Attitude and Direction Control of the Unicycle Robot Using Fuzzy-Sliding Mode Control

  • 이재오 (부산대학교 전자전기공학부) ;
  • 한성익 (부산대학교 전자전기공학부) ;
  • 한인우 (부산대학교 전자전기공학부) ;
  • 이석인 (부산대학교 전자전기공학부) ;
  • 이장명 (부산대학교 전자전기공학부)
  • 투고 : 2011.07.12
  • 심사 : 2012.01.25
  • 발행 : 2012.03.01
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초록

This paper proposes an attitude and direction control of a single wheel balanced robot. A unicycle robot is controlled by two independent control laws: the mobile inverted pendulum control method for pitch axis and the reaction wheel pendulum control method for roll axis. It is assumed that both roll dynamics and pitch dynamics are decoupled. Therefore the roll and pitch dynamics are obtained independently considering the interaction as disturbances to each other. Each control law is implemented by a controller separately. The unicycle robot has two DC motors to drive the disk for roll and to drive the wheel for pitch. Since there is no force to change the yaw direction, the present paper proposes a method for changing the yaw direction. The angle data are obtained by a fusion of a gyro sensor and an accelerometer. Experimental results show the performance of the controller and verify the effectiveness of the proposed control algorithm.

키워드

참고문헌

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피인용 문헌

  1. Haptic Joystick Implementation using Vibration Pattern Algorithm vol.19, pp.7, 2013, https://doi.org/10.5302/J.ICROS.2013.13.1877
  2. Roll/Pitch Attitude Control of an Underwater Robot using Ballast Tanks vol.19, pp.8, 2013, https://doi.org/10.5302/J.ICROS.2013.13.9015
  3. Balancing Control of a Ball Robot Based on an Inverted Pendulum vol.19, pp.9, 2013, https://doi.org/10.5302/J.ICROS.2013.13.1903
  4. Control of a Unicycle Robot using a Non-model based Controller vol.20, pp.5, 2014, https://doi.org/10.5302/J.ICROS.2014.13.0003
  5. Attitude Control of A Two-wheeled Mobile Manipulator by Using the Location of the Center of Gravity and Sliding Mode Controller vol.21, pp.8, 2015, https://doi.org/10.5302/J.ICROS.2015.14.0130
  6. Balancing and Velocity Control of a Unicycle Robot Based on the Dynamic Model vol.62, pp.1, 2015, https://doi.org/10.1109/TIE.2014.2327562