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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Experimental Study and Design of a Disturbance Observer for Steering Stabilization of a One-wheeled Balancing Robot

한 바퀴 밸런싱 로봇의 조향 안정화를 위한 외란관측기 설계 및 실험 연구

  • Lee, Sang-Deok (Department of Mechatronics Engineering, Chungnam National University) ;
  • Jung, Seul (Department of Mechatronics Engineering, Chungnam National University)
  • 이상덕 (충남대학교 메카트로닉스공학과) ;
  • 정슬 (충남대학교 메카트로닉스공학과)
  • Received : 2016.01.22
  • Accepted : 2016.02.26
  • Published : 2016.05.01
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Abstract

In this paper, a DOB (disturbance observer) is designed for the steering stabilization of one-wheeled balancing robot. Based on the simple stick model of the single-wheeled robot, DOBs and the corresponding Q filters are designed. Although the proposed models are simple, DOBs are desired to deal with model uncertainties for the enhanced balancing performance. Experimental studies of two different cases of Q filter design are conducted to evaluate the performances of DOBs. Their performances are compared through balancing control experiments.

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References

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