Balance control of a unicycle robot

Ming Tzu Ho, Yusie Rizal, Yi Lung Chen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

This paper presents the design and implementation of balance control for a unicycle robot. The robot consists of a wheel, a body frame, and a reaction wheel. The wheel enables the robot to move forward or backward to obtain longitudinal stability, while the reaction wheel is used for obtaining lateral stability. Control of this system is a challenging task because of inherent nonlinearity, instability, and underactuation. A detailed dynamic model of the system is derived for control design. By retaining the predominant nonlinear terms and neglecting the high-order coupling terms, the system model is simplified to two decoupled systems. Sliding mode control and feedback linearization are then used to design the stabilizing controllers for the simplified models. The robot is constructed and the designed control schemes are realized through a digital signal processor. The effectiveness of the control schemes is demonstrated through experimental studies.

Original languageEnglish
Title of host publicationProceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1186-1191
Number of pages6
ISBN (Print)9781479923991
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014 - Istanbul, Turkey
Duration: 2014 Jun 12014 Jun 4

Publication series

NameIEEE International Symposium on Industrial Electronics

Other

Other2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
CountryTurkey
CityIstanbul
Period14-06-0114-06-04

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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  • Cite this

    Ho, M. T., Rizal, Y., & Chen, Y. L. (2014). Balance control of a unicycle robot. In Proceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014 (pp. 1186-1191). [6864782] (IEEE International Symposium on Industrial Electronics). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISIE.2014.6864782