International Journal of Fuzzy Logic and Intelligent Systems

  • 제16권3호
  • /
  • Pages.188-196
  • /
  • 2016
  • /
  • 1598-2645(pISSN)
  • /
  • 2093-744X(eISSN)
한국지능시스템학회 (Korean Institute of Intelligent Systems)
권호 표지
DOI QR코드

DOI QR Code

Design of a Fuzzy Compensator for Balancing Control of a One-wheel Robot

  • Lee, Sangdeok (Mechatronics Engineering Department, Chungnam National University) ;
  • Jung, Seul (Mechatronics Engineering Department, Chungnam National University)
  • 투고 : 2016.08.10
  • 심사 : 2016.09.06
  • 발행 : 2016.09.25
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

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.

키워드

참고문헌

  1. Segway, Available http://segway.com
  2. S. I. Han and J. M. Lee, "Balancing and velocity control of a unicycle robot based on the dynamic model," IEEE Transactions on Industrial Electronics, vol. 62, no. 1, pp. 405-413, 2015. http://dx.doi.org/10.1109/TIE.2014.2327562
  3. Y. Zhu, Y. Gao, C. Xu, J. Zhao, H. Jin, and J. Lee, "Adaptive control of a gyroscopically stabilized pendulum and its application to a single-wheel pendulum robot," IEEE/ASME Transactions on Mechatronics, vol. 20, no. 5, pp. 2095-2106, 2015. http://dx.doi.org/10.1109/TMECH.2014.2363090
  4. Murata Girl, Available http://www.murataboy.com
  5. J. H. Lee, H. J. Shin, S. J. Lee, and S. Jung, "Balancing control of a single-wheel inverted pendulum system using air blowers: evolution of mechatronics capstone design," Mechatronics, vol. 23, no. 8, pp. 926-932, 2013. http://dx.doi.org/10.1016/j.mechatronics.2012.08.006
  6. Y. Xu and S. K. W. Au, "Stabilization and path following of a single wheel robot," IEEE/ASME Transactions on Mechatronics, vol. 9, no. 2, pp. 407-419, 2004. http://dx.doi.org/10.1109/TMECH.2004.828642
  7. J. H. Park and S. Jung, "Development and control of a single-wheel robot: practical mechatronics approach," Mechatronics, vol. 23, no. 6, pp. 594-606, 2013. http://dx.doi.org/10.1016/j.mechatronics.2013.05.010
  8. S. D. Lee and S. Jung, "Vibration detection and suppression of a single-wheel system using an AHRS sensor," in Proceedings of the 30th Annual Conference on Institute of Control, Robotics and Systems (ICROS2015), Daejeon, Korea, 2015, pp. 251-252.
  9. S. D. Lee and S. Jung, "A reference compensation scheme for balancing control of a single-wheel robot," in Proceedings of the 2015 Institute of Electronics and Information Engineers (IEIE), Jeju, Korea, 2015, pp. 882-883.
  10. S. B. Cardini, "A history of the monocycle stability and control from inside the wheel," IEEE Control Systems, vol. 26, no. 5, pp. 22-26, 2006. http://dx.doi.org/10.1109/MCS.2006.1700041
  11. H. B. Brown and Y. Xu, "A single-wheel, gyroscopically stabilized robot," in Proceedings of 1996 IEEE International Conference on Robotics and Automation, Minneapolis, MN, 1996, pp. 3658-3663. http://dx.doi.org/10.1109/ROBOT.1996.509270
  12. T. B. Lauwers, G. A. Kantor, and R. L. Hollis, "A dynamically stable single-wheeled mobile robot with inverse mouse-ball drive," in Proceedings of 2006 IEEE International Conference on Robotics and Automation, Orlando, FL, 2006. http://dx.doi.org/10.1109/ROBOT.2006.1642139
  13. T. Insperger, "Stick balancing with reflex delay in case of parametric forcing," Communications in Nonlinear Science and Numerical Simulation, vol. 16, no. 4, pp. 2160-2168, 2011. http://dx.doi.org/10.1016/j.cnsns.2010.07.025
  14. L. Moreno-Ahedo, J. Collado, and C. Vazquez, "Parametric resonance cancellation via reshaping stability regions: numerical and experimental results," IEEE Transactions on Control Systems Technology, vol. 22, no. 2, pp. 753-760, 2014. http://dx.doi.org/10.1109/TCST.2013.2261299
  15. H. W. Broer, I. Hoveijn, M. van Noort, and G. Vegter, "The inverted pendulum: a singularity theory approach," Journal of Differential Equations, vol. 157, no. 1, pp. 120-149, 1999. http://dx.doi.org/10.1006/jdeq.1998.3623
  16. S. D. Lee and S. Jung, "Analysis of relationship between body and gimbal motion through experiment of a singlewheel robot based on an inverse gyroscopic effect," Journal of Institute of Control, Robotics and Systems, vol. 21, no. 11, pp. 1064-1069, 2015. http://dx.doi.org/10.5302/J.ICROS.2015.15.0102
  17. S. D. Lee and S. Jung, "A fuzzy compensator for a singlewheel robot based on static instability," in Proceedings of 16th International Symposium on Advanced Intelligent Systems, Mokpo, Korea, 2015.
  18. S. D. Lee and S. Jung, "Model-based rolling motion control of an one-wheeled robot considering the pitching motion of a gyroscopic effect," Transactions of the Korean Institute of Electrical Engineers, vol. 65, no. 2, pp. 335-341, 2016. http://dx.doi.org/10.5370/KIEE.2016.65.2.335
  19. S. D. Lee and S. Jung, "Experimental verification of stability region of balancing a single-wheel robot: an inverted stick model approach," in Proceedings of 41st Annual Conference of the IEEE Industrial Electronics Society (IECON2015), Yokohama, Japan, 2015, pp. 4556-4561. http://dx.doi.org/10.1109/IECON.2015.7392810