Design of a Fuzzy Compensator for Balancing Control of a One-wheel Robot

摘要

For the balancing control of a one-wheel mobile robot, CMG (Control Moment Gyro) can be used as a gyroscopic actuator.Balancing control has to be done in the roll angle direction by an induced gyroscopic motion.Since the dedicated CMG cannot produce the rolling motion of the body directly, the yawing motion with the help of the frictional reaction can be used.The dynamic uncertainties including the chattering of the control input, disturbances, and vibration during the flipping control of the high rotating flywheel, however, cause ill effect on the balancing performance and even lead to the instability of the system.Fuzzy compensation is introduced as an auxiliary control method to prevent the robot from the failure due to leaning aside of the flywheel.Simulation studies are conducted to see the feasibility of the proposed control method.In addition, experimental studies are conducted for the verification of the proposed control.