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[학술저널]

  • 학술저널

유재림(한화기계) 김용국(한국항공대학교) 권상주(한국항공대학교)

DOI : 10.5302/J.ICROS.2016.16.0123

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초록

A two-wheeled balancing mobile robot (TWBMR) has the characteristics of both nonlinear and underactuated system. In this paper, the disturbances acting on a TWBMR are classified into body disturbance and wheel disturbance. Additionally, we describe a nonlinear disturbance observer, which is suitable as a single input multi-output (SIMO) system for the longitudinal motion of TWBMR. Finally, we propose a reasonable disturbance compensation technique that combines the indirect reference input of equilibrium point and the direct torque compensation input. Simulations and experimental results show that the proposed disturbance compensation method is an effective way to achieve robust postural stability, specifically on inclined terrains.

목차

Abstract
I. 서론
II. 이륜 밸런싱 로봇에 작용하는 외란
III. 밸런싱 모바일 로봇의 종방향 운동
IV. 비선형 모델을 이용한 외란 관측기 설계
V. 시뮬레이션 및 실험
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