• 제어로봇시스템학회논문지
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• 제20권9호
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• pp.895-899
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• 2014

This paper presents the balancing control of a unicycle robot using air power. Since the robot has one wheel to move forward and backward, the balancing control is quite challenging. To control the balancing angle, the accurate angle estimation by a tilt and a gyro sensor is required a priori. A complementary filter is implemented to eliminate the defects of two sensors and to fuse together to estimate an accurate balancing angle. The optimal design of air ducts is found empirically. Experimental studies of the balancing control of a unicycle robot confirm that the robot is well regulated without falling down.

• 전기학회논문지
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• 제66권5호
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• pp.786-791
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• 2017

In this paper, the run time of Li-polymer secondary cell with and without Active Balancing BMS is analyzed. The Active Balancing System using Flyback Converter with two-way power control facility, his designed for optimal characteristics of balancing. The run time of Li-polymer secondary cell is drastically increased employing the Flyback Convert Active Balancing BMS. The run time performance of Li-polymer secondary cell with or without Flyback Converter Active Balancing BMS is analyzed with the discharging and charging experiment of Li-polymer secondary cell.

• 제어로봇시스템학회논문지
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• 제22권1호
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• pp.40-45
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• 2016

This paper presents the neuro-fuzzy control method for balancing a two-wheel mobile robot. A two-wheel mobile robot is built for the experimental studies. On-line learning algorithm based on the back-propagation(BP) method is derived for the Takagi-Sugeno(T-S) neuro-fuzzy controller. The modified error is proposed to learn the B-P algorithm for the balancing control of a two-wheel mobile robot. The T-S controller is implemented on a DSP chip. Experimental studies of the balancing control performance are conducted. Balancing control performances with disturbance are also conducted and results are evaluated.

• 한국정밀공학회지
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• 제19권4호
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• pp.147-153
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• 2002

In the preceding research, the active balancing device, which is an electro-magnetic type, has been developed and active balancing method using influence coefficient method is also proposed. The stability of active balancing control is studied in this paper. A stable condition for active balancing control is derived by estimating errors of influence coefficients. A gain scheduling control using influence coefficients of the reference model is proposed when dynamic characteristic of rotor system is changed. The stability of the balancing method is verified by experiments.

• 로봇학회논문지
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• 제8권2호
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• pp.67-74
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• 2013

This paper presents interaction force control between a balancing robot and a human operator. The balancing robot has two wheels to generate movements on the plane. Since the balancing robot is based on position control, the robot tries to maintain a desired angle to be zero when an external force is applied. This leads to the instability of the system. Thus a hybrid force control method is employed to react the external force from the operator to guide the balancing robot to the desired position by a human operator. Therefore, when an operator applies a force to the robot, desired balancing angles should be modified to maintain stable balance. To maintain stable balance under an external force, suitable desired balancing angles are determined along with force magnitudes applied by the operator through experimental studies. Experimental studies confirm the functionality of the proposed method.

• 한국지능시스템학회논문지
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• 제25권1호
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• pp.1-6
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• 2015

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.

• 제어로봇시스템학회논문지
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• 제20권7호
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• pp.736-740
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• 2014

This paper presents the driving and balancing control of an entertainment robot vehicle that can carry two persons. The entertainment robot vehicle is built with the purpose of carrying passengers with two wheels. It has two driving modes: a balancing mode with two wheels and a driving mode with three wheels. Three cases of different modes are verified by experimental studies. Firstly, a driving mode is tested with two passengers to check the functionality of the vehicle. Secondly, the balancing control performance is tested. Lastly, the balancing control performance under the disturbance is tested.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1185-1188
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• 1996

In this paper we present a genetic approach for trajectory control algorithm of balancing weight for IWR biped walking robot. The biped walking robot, IWR that was made by Automatic Control Lab. of Inha University has a trunk which stabilizes its walking by generating compensation moment. Trunk is composed of a revolute and a prismatic joint which roles balancing weight. The motion of balancing weight is determined by the gait of legs and represented by two linear second order ordinary differential equations. The solution of this equation must satisfy some constraints simultaneously to have a physical meaning. Genetic algorithm search for this feasible motion of balancing weight under some constraints. Simulation results show that feasible motion of balancing weight can be obtained by genetic algorithm.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제6권2호
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• pp.155-160
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• 2006

In the paper a robust indirect adaptive fuzzy controller is proposed for balancing and position control of the inverted pendulum system. Because balancing control rules of the pendulum and position control rules of the cart can be opposite, it is difficult to design an adaptive fuzzy controller that satisfy both objectives. To stabilize the pendulum at a specified position, the proposed fuzzy controller consists of a robust indirect adaptive fuzzy controller for balancing and a supervisory fuzzy controller which emulates heuristic control strategy and arbitrate two control objectives. It is proved that the signals in the overall system are bounded. Simulation results are given to verify the proposed adaptive fuzzy control method.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제16권3호
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• pp.188-196
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• 2016

For the balancing control of a one-wheel mobile robot, CMG (Control Moment Gyro) can be used as a gyroscopic actuator. Balancing control has to be done in the roll angle direction by an induced gyroscopic motion. Since the dedicated CMG cannot produce the rolling motion of the body directly, the yawing motion with the help of the frictional reaction can be used. The dynamic uncertainties including the chattering of the control input, disturbances, and vibration during the flipping control of the high rotating flywheel, however, cause ill effect on the balancing performance and even lead to the instability of the system. Fuzzy compensation is introduced as an auxiliary control method to prevent the robot from the failure due to leaning aside of the flywheel. Simulation studies are conducted to see the feasibility of the proposed control method. In addition, experimental studies are conducted for the verification of the proposed control.