Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Experimental Studies of a Time-delayed Controller for Balancing Control of a Two-wheel Mobile Robot

이륜 이동로봇의 균형 제어를 위한 시간지연 제어기의 실험 연구

  • Cho, Sung Taek (Department of Mechatronics Engineering, Chungnam National University) ;
  • Jung, Seul (Department of Mechatronics Engineering, Chungnam National University)
  • 조성택 (충남대학교 메카트로닉스공학과) ;
  • 정슬 (충남대학교 메카트로닉스공학과)
  • Received : 2015.08.05
  • Accepted : 2016.01.27
  • Published : 2016.02.25
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Abstract

This paper presents balancing control of a two-wheel mobile robot (TWMR). TWMR is aimed to maintain balance while moving. Although TWMR can be controlled by linear controllers such as PD controller, time-delayed controller is employed for robustness. Performances of PD controllers and time-delayed controllers are compared. Especially, experimental studies on different acceleration estimation for the time-delayed controller are conducted. Performances by different acceleration estimations of the balancing angle, of the position, and of both angle and position are compared empirically.

본 논문에서는 두 바퀴 구동 이동로봇(이륜이동로봇)의 균형제어에 대해 논한다. 이륜이동로봇은 두 바퀴로 구동되며 균형을 유지하면서 목표점으로 이동하는 이동로봇이다. 선형제어기인 PD제어기로 균형을 유지할 수 있지만 강건한 제어를 위해서 비선형제어인 시간지연제어기를 사용하였다. PD제어기와 시간지연 제어기의 성능을 비교하기 위해 이륜이동로봇에 적용하여 실험하였다. 로봇의 각도를 위해 시간지연제어방식, 위치제어를 위한 시간지연제어방식, 그리고 각도와 위치 제어를 위한 시간지연제어 방식 등 3가지로 나누어서 실험을 시행하였다. 제어기의 이득값을 달리하며 실험을 통해 시스템의 성능을 평가하였다.

Keywords

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