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Journal of Control Science and Engineering
Volume 2012 (2012), Article ID 194397, 12 pages
Research Article

Experimental Studies of Neural Network Control for One-Wheel Mobile Robot

Intelligent Systems and Emotional Engineering (I.S.E.E.) Laboratory, Department of Mechatronics Engineering, Chungnam National University, Daejeon 305-764, Republic of Korea

Received 18 July 2011; Revised 28 January 2012; Accepted 14 February 2012

Academic Editor: Haibo He

Copyright © 2012 P. K. Kim and S. Jung. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper presents development and control of a disc-typed one-wheel mobile robot, called GYROBO. Several models of the one-wheel mobile robot are designed, developed, and controlled. The current version of GYROBO is successfully balanced and controlled to follow the straight line. GYROBO has three actuators to balance and move. Two actuators are used for balancing control by virtue of gyro effect and one actuator for driving movements. Since the space is limited and weight balance is an important factor for the successful balancing control, careful mechanical design is considered. To compensate for uncertainties in robot dynamics, a neural network is added to the nonmodel-based PD-controlled system. The reference compensation technique (RCT) is used for the neural network controller to help GYROBO to improve balancing and tracking performances. Experimental studies of a self-balancing task and a line tracking task are conducted to demonstrate the control performances of GYROBO.