유니사이클 로봇에 대한 인간적 추론 제어 메카니즘

Our unicycle robot has simple mechanical structure. But unicycle's dynamical system is a very sensitive unstable system. Equation of motion of this simple unicycle robot was derived using Lagrange's method. In this paper a human inference control mechanism was established throughout an inquiry into hyman riding a unicycle, and we developed a hybrid controller to control our unicycle robot. Our controller is consisted with the PD and fuzzy controller containing fuzzy gain scheduling technique. Computer simulation shows good results.