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http://dx.doi.org/10.5391/JKIIS.2015.25.1.001

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

Ha, Minsu (Department of Mechatronics Engineering, Chungnam National University)
Jung, Seul (Department of Mechatronics Engineering, Chungnam National University)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.25, no.1, 2015 , pp. 1-6 More about this Journal
Abstract
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.
Keywords
Fuzzy method; Single-wheel robot; Balancing control; Balancing angle compensation;
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Times Cited By KSCI : 3  (Citation Analysis)
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