Point-to-point motion control of a unicycle robot: Design, implementation, and validation

Yusie Rizal, Chun Ting Ke, Ming-Tzu Ho

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

This paper presents the design, implementation, and validation of balance control and point-to-point motion control of a single-wheeled (unicycle) robot. The robot consists of a wheel, a body, a reaction wheel, and a turntable. The wheel is used to move the robot forward and backward to obtain longitudinal stability. The reaction wheel is used for obtaining lateral stability. The turntable provides steering torque about the vertical axis of the robot. The dynamic model of the system is derived using Euler-Lagrange formulation. By retaining the predominant nonlinear terms and neglecting the high-order coupling terms, the system model is simplified to three decoupled systems. Sliding mode control is then used to design the balance and steering controllers for the simplified model. By combining the obtained balance control and steering control, a point-to-point motion control strategy is proposed. The experimental results are presented to verify the effectiveness of the designed control schemes.

Original languageEnglish
Article number7139804
Pages (from-to)4379-4384
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2015-June
Issue numberJune
DOIs
Publication statusPublished - 2015 Jun 29

Fingerprint

Motion control
Wheels
Robots
Phonographs
Sliding mode control
Dynamic models
Torque
Controllers

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

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abstract = "This paper presents the design, implementation, and validation of balance control and point-to-point motion control of a single-wheeled (unicycle) robot. The robot consists of a wheel, a body, a reaction wheel, and a turntable. The wheel is used to move the robot forward and backward to obtain longitudinal stability. The reaction wheel is used for obtaining lateral stability. The turntable provides steering torque about the vertical axis of the robot. The dynamic model of the system is derived using Euler-Lagrange formulation. By retaining the predominant nonlinear terms and neglecting the high-order coupling terms, the system model is simplified to three decoupled systems. Sliding mode control is then used to design the balance and steering controllers for the simplified model. By combining the obtained balance control and steering control, a point-to-point motion control strategy is proposed. The experimental results are presented to verify the effectiveness of the designed control schemes.",
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Point-to-point motion control of a unicycle robot : Design, implementation, and validation. / Rizal, Yusie; Ke, Chun Ting; Ho, Ming-Tzu.

In: Proceedings - IEEE International Conference on Robotics and Automation, Vol. 2015-June, No. June, 7139804, 29.06.2015, p. 4379-4384.

Research output: Contribution to journalArticle

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