Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Robust Position Control of a Reaction Wheel Inverted Pendulum

원판의 반작용을 이용한 역진자의 강인 자세 제어

  • Park, Sang-Hyung (Dept. of EIE, Seoul National University of Science and Technology) ;
  • Lee, Hae-Chang (Dept. of EIE, Seoul National University of Science and Technology) ;
  • Lim, Seong-Muk (Dept. of EIE, Seoul National University of Science and Technology) ;
  • Kim, Jung-Su (Dept. of EIE, Seoul National University of Science and Technology)
  • 박상형 (서울과학기술대학교, 전기정보공학과) ;
  • 이해창 (서울과학기술대학교, 전기정보공학과) ;
  • 임성묵 (서울과학기술대학교, 전기정보공학과) ;
  • 김정수 (서울과학기술대학교, 전기정보공학과)
  • Received : 2016.03.04
  • Accepted : 2016.04.19
  • Published : 2016.04.25
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Abstract

This paper presents a robust control of a reaction wheel inverted pendulum. To this end, a mathematical model is derived using physical laws, and then parameters in the model are identified as well. Based on the model, a robust position control is designed, which consists of two parts: swing-up control using passivity and robust stabilization control using LMI (Linear Matrix Inequality). When the pendulum starts to move, the swing-up control is applied. If the position of the pendulum is near the desired upright position, the control is switched to the robust stabilization control. This robust control is employed in order to deal with the uncertainties in the inertia of the pendulum dynamics. The performance of the proposed control scheme is validated not only simulation but also real experiment.

본 논문에서는 원판의 반작용을 이용하는 역진자의 강인 자세 제어를 위한 강인 제어 기법을 소개한다. 이를 위해 원판 반작용을 이용하여 자세 조정이 가능한 시스템을 설계한다. 설계된 시스템의 수학적 모델을 구하고 그 수학적 모델을 이용하여 제어기를 설계한다. 설계한 강인 제어 기법은 두 부분으로 구성되어 있다. 초기에는 역진자의 swing up을 위한 수동성 기반의 제어기(passivity based control)를 사용하고 역진자의 자세가 수직 위치 근방에 오면 강인 안정화 제어기로 제어기를 변경한다. 강인 안정화 제어기가 필요한 이유는 역진자 시스템에서 관성 모멘트를 불확실성을 다루기 위함이다. 모의 실험과 실제 실험을 통해 제안하는 제어기가 효과적으로 원판 반작용에 기반한 역진자의 자세 제어를 달성함을 보인다.

Keywords

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