Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Attitude and Direction Control of the Unicycle Robot Using Fuzzy-Sliding Mode Control

퍼지-슬라이딩모드 제어기를 이용한 외바퀴 로봇의 자세제어 및 방향제어

  • 이재오 (부산대학교 전자전기공학부) ;
  • 한성익 (부산대학교 전자전기공학부) ;
  • 한인우 (부산대학교 전자전기공학부) ;
  • 이석인 (부산대학교 전자전기공학부) ;
  • 이장명 (부산대학교 전자전기공학부)
  • Received : 2011.07.12
  • Accepted : 2012.01.25
  • Published : 2012.03.01
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Abstract

This paper proposes an attitude and direction control of a single wheel balanced robot. A unicycle robot is controlled by two independent control laws: the mobile inverted pendulum control method for pitch axis and the reaction wheel pendulum control method for roll axis. It is assumed that both roll dynamics and pitch dynamics are decoupled. Therefore the roll and pitch dynamics are obtained independently considering the interaction as disturbances to each other. Each control law is implemented by a controller separately. The unicycle robot has two DC motors to drive the disk for roll and to drive the wheel for pitch. Since there is no force to change the yaw direction, the present paper proposes a method for changing the yaw direction. The angle data are obtained by a fusion of a gyro sensor and an accelerometer. Experimental results show the performance of the controller and verify the effectiveness of the proposed control algorithm.

Keywords

References

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