한국지능시스템학회논문지 (Journal of the Korean Institute of Intelligent Systems)

  • 제25권1호
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  • Pages.1-6
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  • 2015
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  • 1976-9172(pISSN)
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  • 2288-2324(eISSN)
한국지능시스템학회 (Korean Institute of Intelligent Systems)
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각도 오프셋의 퍼지보상을 통한 외바퀴 이동 로봇의 균형제어

Balancing Control of a Single-wheel Mobile Robot by Compensation of a Fuzzified Balancing Angle

  • 하민수 (충남대학교 메카트로닉스공학과) ;
  • 정슬 (충남대학교 메카트로닉스공학과)
  • Ha, Minsu (Department of Mechatronics Engineering, Chungnam National University) ;
  • Jung, Seul (Department of Mechatronics Engineering, Chungnam National University)
  • 투고 : 2013.11.19
  • 심사 : 2014.12.20
  • 발행 : 2015.02.25
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초록

본 논문에서는 한 바퀴 이동로봇의 균형제어를 위해 퍼지방법을 사용하였다. PD제어를 사용하여 균형을 유지하는 한 바퀴 로봇은 시간이 지남에 따라 플라이휠이 한 방향으로 기울어지게 되고 결국에는 균형이 무너지는 현상이 발생한다. 선행연구에서는 이를 해결하기 위해 게인 스케줄링 방법을 사용하였다. 본 논문에서는 퍼지방법을 사용하여 균형 각도를 보상하므로 균형 제어 성능을 높이고자 하였다. 퍼지제어를 통해 desired offset의 각도를 보상하므로 김벌이 한쪽으로 흘러 넘어지는 현상을 보완하였다. 한 바퀴 구동 이동로봇의 균형제어 실험을 통하여 제안하는 제어방식의 성능을 검증하였다.

In this paper, a fuzzy control method is used for balancing a single-wheel robot. A single-wheel robot controlled by the PD control method becomes easily unstable since the flywheel tends to lean against one direction. In the previous research, we have used the gain scheduling method. To remedy this problem, in this paper, a fuzzy compensation technique is proposed to compensate for the balancing angle. The fuzzy control method compensates offset values at the balancing angle to prevent the gimbal from falling against one direction. Experimental studies of the balancing control performance of a single-wheel mobile robot validate the proposed control method.

키워드

참고문헌

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피인용 문헌

  1. Robust Position Control of a Reaction Wheel Inverted Pendulum vol.26, pp.2, 2016, https://doi.org/10.5391/JKIIS.2016.26.2.127