원점 복귀 가능한 차륜형 역진자 제어를 위한 확장 상태피드백 제어기 설계
Design of an Augmented State Feedback Controller for a Wheeled Inverted Pendulum Returning to the Origin
1
조회
0
다운로드
0
인용
0
참고문헌
키워드
초록
An augmented state feedback controller for a Wheeled Inverted Pendulum (WIP) is proposed in this research. The augmented state feedback controller is able to keep the WIP returning to the origin. Generally, the WIP has both stable and unstable equilibrium points. To keep the WIP over the unstable equilibrium point, the WIP consistently is being controlled. A simple state feedback controller is letting the WIP out of the origin when the center of gravity of the WIP locates out of the schematic center line. In some case of applications, it may not be desirable that the WIP is drifting out of the initial location. The proposed augmented state feedback controller is able to keep the WIP at the initial location whether its center of gravity lies out of the center line or not. Numerical simulations are carried out to show the validation of the augmented sated feedback controller.
Abstract
An augmented state feedback controller for a Wheeled Inverted Pendulum (WIP) is proposed in this research. The augmented state feedback controller is able to keep the WIP returning to the origin. Generally, the WIP has both stable and unstable equilibrium points. To keep the WIP over the unstable equilibrium point, the WIP consistently is being controlled. A simple state feedback controller is letting the WIP out of the origin when the center of gravity of the WIP locates out of the schematic center line. In some case of applications, it may not be desirable that the WIP is drifting out of the initial location. The proposed augmented state feedback controller is able to keep the WIP at the initial location whether its center of gravity lies out of the center line or not. Numerical simulations are carried out to show the validation of the augmented sated feedback controller.
참고문헌 (13)
- P. L. Kapitza, "in Collected Paper of P. L. Kapitza", pp.174~ (1965), Pergamon
- J. Searock, "Turning Segways into Soccer Robots", Proceedings of IEEE, 2004, 1029~1034
- R. O. Ambrose, "Mobile Manipulation using NASA’s Robonaut", Proceedings of IEEE International Conference on Robotics & Automation, pp.2104~2109 (2004)
- S. Matsumoto, "Estimation and Control of the Attitude of a Dynamic Mobile Robot Using Internal Sensors", Journal of Robotic Society of Japan, 8(5), pp.37~46 (1990)
- 이세한, "무게중심이 변동되는 차륜형 역진자의 평형점 상태에 관한 연구", 제어로봇시스템학회
- K. Furuta, "Digital control of a double inverted pendulum on an inclined rail", International Journal of Control, 32(5), pp.907~924 (1980)
- 이세한, "경사면을 주행하는 차륜형 역진자의 평형점 상태에 관한 연구", 한국정밀공학회
- M. W. Spong, "ROBOT DYNAMICS AND CONTROL" (1989), Wiley & Sons, Inc
- 이세한, "경사면을 주행하는 차륜형 역진자를 위한 선형행렬 부등식 기반 혼합 H2", H∞ 상태피드백 제어기 설계, 2010, pp.20(5), 617~623[DOI]