Title :
Balancing control of bicycle robot using PID control
Author :
Hyun-Woo Kim ; Jae-Won An ; Han Dong Yoo ; Jang-Myung Lee
Author_Institution :
Intell. Robot Lab., Pusan Nat. Univ., Busan, South Korea
Abstract :
This paper discusses on the balance control of bicycle robot. The reaction wheel pendulum is used to control the balance. The PID controller, based on the non-model, is used. The performance of controller is confirmed by the experiment.
Keywords :
bicycles; mobile robots; motion control; nonlinear control systems; pendulums; remotely operated vehicles; three-term control; PID control; balancing control; bicycle robot; reaction wheel pendulum; Equations; Inductance; Mathematical model; Balancing control; Bicycle robot; PID control; Reaction wheel pendulum;
Conference_Titel :
Control, Automation and Systems (ICCAS), 2013 13th International Conference on
Conference_Location :
Gwangju
Print_ISBN :
978-89-93215-05-2
DOI :
10.1109/ICCAS.2013.6703879
