DOI QR코드

DOI QR Code

공정 자동화를 위한 싱글 휠 드라이빙 모바일 로봇의 견실제어에 관한 연구

A Study on Robust Control of Mobile Robot with Single wheel Driving Robot for Process Automation

  • 신행봉 (경남대학교 대학원 첨단공학과) ;
  • 차보남 (두산인프라코어(주))
  • 투고 : 2015.05.20
  • 심사 : 2015.06.15
  • 발행 : 2016.06.30

초록

This paper presents a new approach to control of stable motion of single wheel driving robot system of a pitch that is controlled by an in-wheel motor and a roll that is controlled by a reaction wheel. This robot doesn'thave any actuator for a yaw axis control, which makes the derivation of the dynamics relatively simple. The Lagrange equations was applied to derive the dynamic equations of the one wheel driving robot to implement the dynamic speed control of the mobile robot. To achieve the real time speed control of the unicycle robot, the sliding mode control and optical regulator are utilized to prove the reliability while maintaining the desired speed tracking performance. In the roll controller, the sigmoid-function based robust controller has been adopted to reduce the vibration by the situation function. The optimal controller has been implemented for the pitch control to drive the unicycle robot to follow the desired velocity trajectory in real time using the state variables of pitch angle, angular velocity, angle and angular velocity of the driving wheel. The control performance of the control systems from a single dynamic model has been illustrated by the real experiments.

키워드

참고문헌

  1. Lennart Ljung, System Identification
  2. Kastsuhiko Ogata, Modern Control Engineering, Prentice-Hall international, Inc.,1990
  3. William L. Brogan, Modern Control Theory
  4. Herbert E. Merritt, Hydraulic Control System
  5. Edward P. Cunningham, Digital Filtering
  6. Franklin, Powell, Workman, Digital Control of Dynamic Systems
  7. 손익휘, "전기.유압식 핀-온-레시프로케이팅-플레이트형 마멸시험기의 설계 및 제어", 부산대학교 석사학위 논문, 2000
  8. John F. Blackburn, Fluid Power Control
  9. Anthony Esposito, Fluid Power with applications
  10. Bin Yao, Fanping Bu,John Reedy, George T.-C. Chiu, "Adaptive Robust Motion Control of Single-Rod Hydraulic Actuators : Theory and Experiments", Vol.5, No.1, March 2000 https://doi.org/10.1109/3516.828592