Journal of the Korea Institute of Information and Communication Engineering (한국정보통신학회논문지)

The Korea Institute of Information and Commucation Engineering (한국정보통신학회)
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Controller Design of Two Wheeled Inverted Pendulum Type Mobile Robot Using Neural Network

신경회로망을 이용한 이륜 역진자형 이동로봇의 제어기 설계

  • 안태희 (부산대학교 전자전기공학과) ;
  • 김용백 (부산대학교 전자전기공학과) ;
  • 김영두 (부산대학교 전자전기공학과) ;
  • 최영규 (부산대학교 전자전기공학과)
  • Received : 2010.10.11
  • Accepted : 2010.11.18
  • Published : 2011.03.31
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Abstract

In this paper, a controller for two wheeled inverted pendulum type robot is designed to have more stable balancing capability than conventional controllers. Traditional PID control structure is chosen for the two wheeled inverted pendulum type robot, and proper gains for the controller are obtained for specified user's weights using trial-and-error methods. Next a neural network is employed to generate PID controller gains for more stable control performance when the user's weight is arbitrarily selected. Through simulation studies we find that the designed controller using the neural network is superior to the conventional PID controller.

본 논문에서는 빠르고 조작이 간편한 이동 수단인 이륜 역진자형 이동로봇을 기존의 방법보다 더욱 안정적인 밸런싱을 하기 위한 제어기를 설계하였다. 먼저 이륜 역진자형 이동로봇의 제어기를 일반적인 PID 제어구조로 선택하고, 적절한 제어이득을 지정된 사용자의 몸무게에 따라 시행착오적으로 구하였다. 임의의 몸무게에 따른 PID 이득값을 구하기 위해 PID 이득 값을 신경회로망으로 튜닝을 한 뒤 PID제어기에 적용하여 보다 안정적인 제어가 가능하도록 제어기를 설계하였다. 설계된 제어기를 시뮬레이션에 적용시켜 기존의 PID 제어기에 비해서 본 논문에서 제안한 신경회로망으로 튜닝한 PID 제어기가 보다 안정적인 제어가 가능함을 확인할 수 있었다.

Keywords

References

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Cited by

  1. Implementation of Balancing Control System for Two Wheeled Inverted Pendulum Robot vol.16, pp.3, 2012, https://doi.org/10.6109/jkiice.2012.16.3.432