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http://dx.doi.org/10.5391/JKIIS.2017.27.2.089

Balancing control of one-wheeled mobile robot using control moment gyroscope  

Park, Sang-Hyung (Department of Electrical and Information Engineering, Seoul National University of Science and Technology)
Yi, Soo-Yeong (Department of Electrical and Information Engineering, Seoul National University of Science and Technology)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.27, no.2, 2017 , pp. 89-98 More about this Journal
Abstract
The control moment gyroscope(CMG) can be used for essential balancing control of a one-wheeled mobile robot. A single-gimbal CMG has a simple structure and can supply strong restoring torque against external disturbances. However, the CMG generates unwanted directional torque also besides the restoring torque; the unwanted directional torque causes instability in the one-wheeled robot control system that has high rotational degrees of freedom. This study proposes a control system for a one-wheeled mobile robot by using a CMG scissored pair to eliminate the unwanted directional torque. The well-known LQR control algorithm is designed for robustness against modeling error in the dynamic motion equations of a one-wheeled robot. Computer simulations for 3D nonlinear dynamic equations are carried out to verify the proposed control system with the CMG scissored pair and the LQR control algorithms.
Keywords
Control Moment Gyroscope; One-Wheeled Robot; Balancing Control; Stabilizing Control;
Citations & Related Records
Times Cited By KSCI : 5  (Citation Analysis)
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