Abstract
The control moment gyroscope(CMG) can be used for essential balancing control of a one-wheeled mobile robot. A single-gimbal CMG has a simple structure and can supply strong restoring torque against external disturbances. However, the CMG generates unwanted directional torque also besides the restoring torque; the unwanted directional torque causes instability in the one-wheeled robot control system that has high rotational degrees of freedom. This study proposes a control system for a one-wheeled mobile robot by using a CMG scissored pair to eliminate the unwanted directional torque. The well-known LQR control algorithm is designed for robustness against modeling error in the dynamic motion equations of a one-wheeled robot. Computer simulations for 3D nonlinear dynamic equations are carried out to verify the proposed control system with the CMG scissored pair and the LQR control algorithms.
| Translated title of the contribution | Balancing control of one-wheeled mobile robot using control moment gyroscope |
|---|---|
| Original language | Korean |
| Pages (from-to) | 89-98 |
| Number of pages | 10 |
| Journal | 한국지능시스템학회 논문지 |
| Volume | 27 |
| Issue number | 2 |
| DOIs | |
| State | Published - Apr 2017 |