Browse > Article
http://dx.doi.org/10.5370/KIEE.2016.65.2.335

Model-Based Rolling Motion Control of an One-wheeled Robot Considering the Pitching Motion of a Gyroscopic Effect  

Lee, Sang-Deok (Dept. of Mechatronics Engineering, Chungnam National University)
Jung, Seul (Dept. of Mechatronics Engineering, Chungnam National University)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.65, no.2, 2016 , pp. 335-341 More about this Journal
Abstract
In general, a yawing motion concept is used for the lateral control of one wheel robot where the gimbal system is located horizontally. In this paper, another concept of the vertically located gimbal system is presented for the same purpose. Although the vertical concept undergoes an instability more easily than the horizontal one, the pitching motion of the gyroscopic effect is considered. Firstly, the trade-off relation between two balancing concepts are investigated by comparing the gyroscopic mechanism. Secondly, the dynamic model for the problem of the proposed concept is derived using the oscillatory inverted stick model. Thirdly, the stability of the model is analyzed using the phase trajectory method. Finally, the control performance of the system by a vibration controller is simulated.
Keywords
Balancing control; Gyroscopic effect; Single-wheel robot; The inverted stick model;
Citations & Related Records
연도 인용수 순위
  • Reference
1 H. Jin, J. Hwang, and J. Lee, "A balancing control strategy for a one wheel pendulum robot based on dynamic model decomposition: Simulations and experiments," IEEE/ASME Trans. on Mechatronics, vol. 16, no. 4, pp. 763-768, 2011.   DOI
2 J. Lee, S. Han, and J. Lee, "Decoupled dynamic control for pitch and roll axes of the unicycle robot," IEEE Trans. on Industrial Electronics, vol. 60, no. 9, pp. 3814-3822, 2013.
3 L. Morine L., et al. Control Moment Gyroscope Gimbal Actuator Study. BENDIX CORP TETERBORO NJ ECLIPSE-PIONEER DIV, 1966.
4 E. Mumm, K. Davis, M. Mahin, and D. Neal, "Miniature Control Moment Gyroscope development." IEEE Aerospace Conference, pp. 1-9, 2014.
5 S. D. Lee and S. Jung, "A Fuzzy Compensator for a Single-wheel Robot based on Static Instability.", International Symposium on Advanced Intelligent Systems, 2015.
6 S. D. Lee and S. Jung, "Experimental Verification of Stability Region of Balancing a Single-wheel Robot: an Inverted Stick Model Approach.", IEEE IECON, 2015.
7 S. D. Lee and S. Jung, "Single-wheel Robot Balance Control from a Stick Model Point of View", Institute of Electrical Engineering in Korea, pp. 1327-1328, 2015.
8 J. C. Fang and Y. Ren. "High-precision control for a single-gimbal magnetically suspended control moment gyro based on inverse system method." IEEE Transaction on Industrial Electronics, vol. 58, no. 9, pp. 4331-4342, 2011.   DOI
9 J. C. Fang and Y. Ren, "Decoupling control of magnetically suspended rotor system in control moment gyros based on an inverse system method." IEEE/ASME Transactions on Mechatronics, vol. 17, no. 6, pp. 1133-1144, 2012.   DOI
10 Y. Ren and J. C. Fang. "High-stability and fastresponse twisting motion control for the magnetically suspended rotor system in a control moment gyro." IEEE/ASME Transactions on Mechatronics, vol. 18, no. 5, pp. 1625-1634, 2013.   DOI
11 Z. S. Wang. "Application of Adaptive Interference Suppressor to Gimbal of MSCMG." IEEE Fourth International Conference on Digital Manufacturing and Automation (ICDMA), pp. 267-269, 2013.
12 C. Yang, Z. Li, and J. Li "Trajectory Planning and Optimized Adaptive Control for a Class of Wheeled Inverted Pendulum Vehicle Models", IEEE Transactions on Cybernetics, vol. 43, no. 1, pp. 24 - 36, 2013.   DOI
13 J. X and A. Al Mamun, and Y. Daud, "Pendulum balanced autonomous unicycle: Conceptual design and dynamics model", IEEE Conference on Robotics, Automation and Mechatronics, pp. 51-56, 2011.
14 Y. Zhu, Y. Gao, C. Xu, HJ. Jin, and J. Lee"Adaptive Control of a Gyroscopically Stabilized Pendulum and Its Application to a Single-Wheel Pendulum Robot",IEEE Transaction on Mechatronics, vol. 25, no. 25, pp. 2004-2016, 2014.
15 F. Grasser, A. D'Arrigo, S. Colombi, and A. Rufer, "JOE: A mobile, inverted pendulum," IEEE Trans. Industrial Electronics, vol. 49, no. 1, pp. 107-114, 2002.   DOI
16 S. Kwon and J. Yu, "Tilting-Type Balancing Mobile Robot Platform for Enhancing Lateral Stability.", IEEE/ASME Transactions on Mechatronics, vol. 20, no. 3, pp. 1470-1481, 2015.   DOI
17 T. Insperger, "Stick balancing with reflex delay in case of parametric forcing." Communications in Nonlinear Science and Numerical Simulation, vol. 16, no. 14, pp. 2160-2168, 2011.   DOI
18 L. Moreno-Ahedo, J. Collado, and C. Vazquez, "Parametric Resonance Cancellation Via Reshaping Stability Regions: Numerical and Experimental Results." IEEE Transactions on Control Systems Technology, vol. 22, no.2, pp. 753-760, 2014.   DOI