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이륜 밸런싱 로봇에 대한 비선형 모델 기반 외란보상 기법
유재림(Jaerim Yu),김용국(Yongkuk Kim),권상주(SangJoo Kwon) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.10
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.