• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1811-1812
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• 2007

본 논문에서는 Fuzzy-PID Control을 이용한 2축 도립진자를 제어한다. X-Y 축을 움직이는 카트에는 도립진자가 세워져 있으며 카트가 2축의 평면상에 원하는 위치로 빠르고 정확하게 이동할 수 있게 하는 동시에 도립진자의 균형을 깨뜨리지 않고 움직이는 것을 제어의 목표로 한다. Fuzzy-PID Control은 도립진자의 균형에 대한 제어뿐만 아니라 로봇의 위치 제어까지 적용된다. 본 연구 논문에서는 이러한 Fuzzy-PID 적용 시스템에 대한 시뮬레이션을 실행함으로 그 우수성을 입증 하고자 한다.

• Journal of the Korean Institute of Intelligent Systems
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• v.13 no.2
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• pp.137-147
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• 2003

The fuzzy control and implementation of a new three-dimensional(3-D) inverted pendulum system are addressed. In comparison with conventional 1-D and 2-D systems, the 3-D inverted pendulum system is a proper benchmark system to simulate human's control action which includes the up and down motion to stabilize an inverted pendulum. To investigate the characteristics of the 3-D inverted pendulum system and to design of a fuzzy controller, we derive dynamic equations of the mechanism including a 3-axis cartesian robot and an inverted pendulum. We propose a design method of a fuzzy controller of the yaw and pitch angles of an inverted pendulum. In the design, the redundant degree-of-freedom(DOF) of the robot and the constrained workspace are taken into account. The performance of the proposed system is proved by experimental results using a developed PC-based Multi-Motion Control(MMC) board.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.9
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• pp.1147-1153
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• 1999

The attitude control of a double inverted pendulum with a periodical disturbance at link top is dealt in this paper. The proposed system is consisted of the double inverted pendulum and a disturbing link; a triple inverted pendulum with two motors. The lower link is hinged on the plate to free for rotation in the vertical plane. The upper link is connected to the lower link through a DC motor. The DC motor is used to control the posture of the pendulum by adjusting the position of the upper link. The periodical disturbance can be generated by the additional like attached at the end of link 2 through another DC motor, which is the modeling of a posture for a biped supporting with one leg. The motor for the joint simulates the knee joint(or hip joint) and the disturbance for the legs moving in air. The algorithm for controlling the proposed inverted pendulum which is regarded as a virtual double inverted pendulum with a periodic disturbance, is consisted of a state feedback control and a fuzzy logic controller connected in parallel. The fuzzy controller keeps the center of gravity of the biped within the specified range through the nonlinear feedback compensator. The state feedback control takes over the role to maintain a desired posture regardless the disturbance at the link top. Simulations with a mathematical model and experiments are conducted to show the validity of the proposed controller.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.5
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• pp.577-584
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• 1999

In this paper, the double inverted pendulum having a single actuator is built and the controller for the system is proposed. The lower link of the target pendulum system is hinged on the plate to free for rotation in the specified range($10^{\cire}$) on the x-z plane. The upper link is connected to the lower link through a DC motor. The double inverted pendulum built can be kept upright posture by controlling the position of the upper link even though it has no actuator in lower hinge. The algorithm to control the inverted pendulum consists of a state feedback controller within a linearizable range and a fuzzy logic controller coupled with a nonlinear feedback compensator for the rest of the range. Conventional state feedback control is employed, and the fuzzy controller is responsible for generating the reference joint angle of the upper link for the nonlinear feedback compensator which drives a DC motor to generate an indirect torque to the lower joint. As a result, we can get the upright posture of the proposed pendulum system. Simulations and experiments are conducted to show the validity of the proposed controller.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.257-260
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• 1997

In this paper, the double inverted pendulum having a single actuator is built and the controller for the system is proposed. The lower link is hinged on the plate to free for rotation in the x-z plane. The upper link is connected to the lower link through a DC motor. The double inverted pendulum built can be kept upright posture by controlling the position of the upper link even though the proposed inverted pendulum has no actuator in lower hinge. The algorithm to control the inverted pendulum is consisted of a state feedback controller within a linearizable range and a fuzzy logic controller coupled with a feedback linearization control for the rest of the range. Concept of the virtual work is employed to drive the linearlized model for the state feedback controller. The feedback linearization controller drives a DC motor with the modified reference joint angle from the fuzzy controller which adjusts a upright posture of a proposed pendulum system. Finally, the experiments are conducted to show the validity of the proposed controller.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2240-2242
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• 2001

A rotary double inverted pendulum, the nonlinear system has a regulation problem. In this paper, we linearize the nonlinear system at the upright equilibrium position. The linearized system can be expressed in state space. To maintain the upright position, we design a feedback controller using LQR(Linear Quadratic Regulator) algorithm. Then we simulate the system with third-order Adams Bashforth Moulton Method. The simulated result shows that the applied algorithm is effective for the regulation problem.

• Proceedings of the KIEE Conference
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• 1999.07g
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• pp.2983-2985
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• 1999

This paper presents the attitude control of the double inverted pendulum with compliant joint. The biped robot with compliant ankle joint instead of a motor have a good contact between it's sole and ground in the uneven ground. The compliant ankle joint proposed here is composed of springs and mechanical constraint. The lower link is hinged on the plate to free for rotation in the vertical plate. The upper link is connected to the lower link through a DC motor. The DC motor is used to control the posture of the pendulum by adjusting the position of the upper link. The algorithm for controlling a proposed inverted pendulum is nonlinear feedback controller. Simulation with mathematical model are conducted to show the validity of the proposed controller.

• Proceedings of the KIEE Conference
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• 1998.07g
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• pp.2309-2311
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• 1998

The attitude control of a double inverted pendulum with a periodical disturbance at link top is dealt in this paper. The proposed system is consisted of the double inverted pendulum and a disturbance link. The lower link is hinged on the plate to free for rotation in the vertical plane. The upper link is connected to the lower link through a DC motor. The DC motor is used to control the posture of the pendulum by adjusting the position of the upper link. The periodical disturbance can be generated by the additional link attached at the end of link 2 through another DC motor, which is the modeling of a posture for a biped supporting with one leg. The motor for the joint simulates the knee joint(or hip joint) and the disturbance for the legs moving in air. The algorithm for controlling a proposed inverted pendulum is consisted of a state feedback control and a fuzzy logic controller. The fuzzy controller keeps the center of gravity of the biped within the specified range through the nonlinear feedback compensator. The state feedback control takes over the role to maintain a desired posture regardless the disturbance at the link top. In these case, the change of the angle and COG of an upper link is compensated with on-line. Simulations with a mathematical model are conducted to show the validity of the proposed controller.