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원점 복귀 가능한 차륜형 역진자 제어를 위한 확장 상태피드백 제어기 설계
이세한 한국로봇학회 2011 로봇학회 논문지 Vol.6 No.4
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.
이세한,박종근 대한기계학회 2006 대한기계학회 춘추학술대회 Vol.2006 No.11
In this research a computer simulation for implementing attitude controller of Wheeled Inverted Pendulum is carried out. The Wheeled Inverted Pendulum is a kind of an inverted pendulum that has two equivalent points. In order to keep the naturally unstable equivalent point, it should be controlling the wheels persistently. Dynamic equations of the Wheeled Inverted Pendulum are derived with considering tilted road as one of various road conditions. A Linear Quadratic Regulator is adopted for the attitude controller since it is easy to obtain full state variables from the sensors for that control scheme and based on controllable condition of the destination as well. Various computer simulation shows that the LQR controller is doing well not only nat road but also tilted road.
경사면을 주행하는 차륜형 역진자를 위한 선형행렬부등식 기반 혼합 H<sub>2</sub>/H<sub>∞</sub> 상태피드백 제어기 설계
이세한,이상용,Lee, Se-Han,Rhee, Sang-Yong 한국지능시스템학회 2010 한국지능시스템학회논문지 Vol.20 No.5
본 논문에서는 차륜형 역진자에 적용되는 LMI 제어기 설계와 그 수치 시뮬레이션이 수행되었다. 차륜형 역진자는 2개의 평형점을 갖고 있는 역진자의 일종이다. 불안정한 평형점에 대하여 평형을 유지하기 위하여 차륜형 역진자는 지속적으로 제어되어야 한다. 경사면을 고려하여 차륜형 역진자의 동역학 방정식이 유도되었다. 경사면을 적극적으로 고려하여 차륜형 역진자를 안정화 시킬 수 있는 제어기를 구성하는데 선형행렬부등식 기법이 적용되었다. LMI 기반 제어기가 평면과 경사면에 대해서 유효함을 보이기 위해서 다양한 수치 시뮬레이션이 수행되었다. In this research an LMI based mixed $H_2/H_{\infty}$ controller for a Wheeled Inverted Pendulum is designed and a numerical simulation of that is carried out. The Wheeled Inverted Pendulum is a kind of an inverted pendulum that has two equivalent points. To keep that the naturally unstable equivalent point, a controller should control the wheels persistently. Dynamic equations of the Wheeled Inverted Pendulum are derived with considering inclined road that is one of the representative road conditions. A Linear Matrix Inequality method is used to construct a controller that is able to stabilize the Wheeled Inverted Pendulum with considering the inclined road condition aggressively. Various numerical simulations show that the LMI based controller is doing well on not only flat road but also inclined road condition.