유니사이클 로봇의 곡선경로 추종을 위한 퍼지규칙

Fuzzy Rule for Curve Path Tracking of a Unicycle Robot

Our unicycle has simple mechanical structure. But unicycle's dynamic system is a very sensitive unstable nonlinear system. In this paper, a fuzzy inference control mechanism was established throughout an inquiry into human riding a unicycle, and we developed a direct fuzzy controller to control our unicycle robot. This proposed fuzzy controller is consisted with fuzzy logic controllers for attitude stability and wheel's velocity. Computer simulation results show that our fuzzy controller has very powerful performance to unstable nonlinear unicycle robot system.