수학적 모델링에 기초한 역진자형 모바일 로봇의 자세제어 = Mathematical Model Based Attitude Control of Inverted Pendulum Type Mobile Robot

다국어 초록 (Multilingual Abstract)

Recently, platform of mobile robot has been proposed actively by the many manufacturing companies. In the mobile robot area, research for inverted pendulum type mobile robot having two wheels as movement method is conducted actively by merits such as low power consumption, light weigh, simple configuration, excellent expandability, and wide application area. Because of inverted pendulum type mobile robot has characteristics as instability in system configuration, high technology such as precision attitude sensing and control algorithm is required for continuous attitude balance.
In this work, attitude control method using mathematical model and design method using mechatronics model are proposed for inverted pendulum type mobile robot In mathematical model, dynamics and nonlinear component such as dead zone and saturation of control input are considered. In mechatronics model, uncertainty of model is minimized by adoption of simple structure and parameter presumption of motor system. the developed design and control method is verified by experiment using inverted pendulum type mobile robot.

목차 (Table of Contents)

• Abstract
• 1. 서론
• 2. 시스템 구성
• 3. 시스템 모델링
• 4. PID 제어기 설계
• 5. 제어실험
• 6. 결론
• 참고문헌