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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Balancing and Driving Control of a Bicycle Robot

자전거로봇의 균형제어 및 주행

  • 이석인 (부산대학교 전자전기공학부) ;
  • 이인욱 (부산대학교 전자전기공학부) ;
  • 김민성 (부산대학교 전자전기공학부) ;
  • 하혁 (부산대학교 전자전기공학부) ;
  • 이장명 (부산대학교 전자전기공학부)
  • Received : 2012.02.20
  • Accepted : 2012.05.15
  • Published : 2012.06.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper proposes a balancing and driving control system for a bicycle robot. A reaction wheel pendulum control method is adopted to maintain the balance while the bicycle robot is driving. For the driving control, PID control algorithm with a variable gain adjustment has been developed in this paper, where the gains are heuristically adjusted during the experiments. To measure the angles of the wheels the encoders are used. For the balancing control, a roll controller is designed with a non-model based algorithm to make the shortest cycle. The tilt angle is measured by the fusion of the acceleration and gyroscope sensors, which is used to generate the control input of the roll controller to make the tilt angle zero. The performance of the designed control system has been verified through the real experiments with the developed bicycle robot.

Keywords

References

  1. Y. Tanaka and T. Murakami, "Self sustaining bicycle robot with steering controller," The 8th IEEE International Workshop on Advanced Motion Control, AMC'04, pp. 193-197, Mar. 2004.
  2. T. Takei, M. Tsuruta, J. Okumura, T. Nakabayashi, and T. Tsubouchi, "Stabilized motion of a small sized bike robot only by steering control," The 11th IEEE International Workshop on Advanced Motion Control, pp. 466-471, Mar. 2010.
  3. Y. Huang, Q. Liao, S. Wei, and L. Guo, "Dynamic modeling of a bicycle robot with front-wheel drive based on kane's method," Proc. of the 2010 IEEE International Conference on Information and Automation, pp. 758-764, June 2010.
  4. Z. Yizhai, L. Jingliang, Y. Jingang, and S. Dezhen, "Balance control and analysis of stationary riderless motorcycles," 2011 IEEE International Conference on Robotics and Automation, pp. 3018-3023, May 2011.
  5. S. C. Peters, E. Frazzoli, and K. Iagnemma, "Differential flatness of a front-steered vehicle with tire force control," International Conference on Intelligent Robots and Systems, pp. 298-304, Sep. 2011.
  6. J.-H. Yang, S.-Y. Lee, S.-Y. Kim, Y.-S. Lee, and O.-K. Kwon, "Linear controller design for circular motion of unmanned bicycle," 2011 11th International Conference on Control, Automation and Systems, pp. 893-897, Oct. 2011.
  7. Murata Boy Robot, (www.murataboy.com)
  8. M. Kawaguchi and M. Yamakita, "Stabilizing of bike robot with variable configured balancer," SICE Annual Conference 2011, pp. 13-18, Sep. 2011.
  9. L. Keo, K. Yoshino, M. Kawaguchi, and M. Yamakita, "Experimental results for stabilizing of a bicycle with a flywheel balancer," 2011 IEEE International Conference on Robotics and Automation, pp. 6150-6155, May 2011.
  10. S. Lee and W. Ham, "Self-stabilizing strategy in tracking control of unmanned electric bicycle with mass balance," IEEE International Conference on Intelligent Robots and Systems, pp. 2200-2205, 2002.
  11. T. T. Bui, M. Parnichkun, and C. H. Le, "Structure-specified $H{\infty}$ loop shaping control for balancing of bicycle robots: a particle swarm optimization approach," Proc. of the Institution of Mechanical Engineers, vol. 224, no. 7, pp. 857-867, Nov. 2010.
  12. P. Y. Lam, "Gyroscopic stabilization of a kid-size bicycle," 2011 IEEE 5th International Conference on Cybernetics and Intelligent Systems, pp. 247-252, Sep. 2010.
  13. D. Block, K. Astrom, and M. Spong, "The reaction wheel pendulum," Synthesis Lectures on Control and Mechatronics, Morgan & Claypool Publishers, Princeton, NJ, 2007.
  14. K. N. Srinias and L. Behera, "Swing-up strategies for a reaction wheel pendulum," Int. J. Syst. Sci., vol. 39, no. 12. pp. 1165-1177, 2008. https://doi.org/10.1080/00207720802095137
  15. Norman S. Nise, Control Systems Engineering, 5th Ed., Wiley, 2008.
  16. N.-S. Cho, J.-Y. Ryu, C.-W. Park, and W.-H. Kwon, "Design of robust stability maximizing PI controller in motor parameter variation," Journal of the Institute of Control, Robotics and Systems (in Korean), vol. 15, no. 6, pp. 590-597, June 2009. https://doi.org/10.5302/J.ICROS.2009.15.6.590
  17. J.-O. Lee, S.-I. Han, I.-W. Han, S.-I. Lee, and J.-M. Lee, "Attitude and direction control of the unicycle robot using fuzzysliding mode control," Journal of the Institute of Control, Robotics and Systems (in Korean), vol. 18, no. 3, pp. 275-284, Mar. 2012. https://doi.org/10.5302/J.ICROS.2012.18.3.275
  18. S. W. Smith, "The Scientist and Engineer's Guide to Digital Signal Processing," (www.dspguide.com)
  19. H. G. Min, J. H. Kim, J. H. Yoon, E. T. Jeung, and S.-H. Kwon, "A control of balancing robot," Journal of the Institute of Control, Robotics and Systems (in Korean), vol. 16, no. 12, pp. 1201-1207, Dec. 2010. https://doi.org/10.5302/J.ICROS.2010.16.12.1201
  20. J.-H. Yang, S.-Y. Lee, S.-Y. Kim, Y. S. Lee, and O.-K. Kwon, "Optimal posture control for unmanned bicycle," Journal of the Institute of Control, Robotics and Systems (in Korean), vol. 17, no. 10, pp. 1006-1013, Oct. 2011. https://doi.org/10.5302/J.ICROS.2011.17.10.1006

Cited by

  1. Roll/Pitch Attitude Control of an Underwater Robot using Ballast Tanks vol.19, pp.8, 2013, https://doi.org/10.5302/J.ICROS.2013.13.9015
  2. Balancing Control of a Ball Robot Based on an Inverted Pendulum vol.19, pp.9, 2013, https://doi.org/10.5302/J.ICROS.2013.13.1903
  3. Estimate the Inclination Angle using Traveling Speed of Segway Robot on the Slope vol.20, pp.11, 2014, https://doi.org/10.5302/J.ICROS.2014.13.0011
  4. Control of a Unicycle Robot using a Non-model based Controller vol.20, pp.5, 2014, https://doi.org/10.5302/J.ICROS.2014.13.0003
  5. LQR Controller Design for Balancing and Driving Control of a Bicycle Robot vol.20, pp.5, 2014, https://doi.org/10.5302/J.ICROS.2014.13.1985
  6. Stable control of the bicycle robot on a curved path by using a reaction wheel vol.29, pp.5, 2015, https://doi.org/10.1007/s12206-015-0442-1