Balance control of a unicycle robot

Ming Tzu Ho, Yusie Rizal, Yi Lung Chen

研究成果: Conference contribution

6 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題Proceedings - 2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
發行者Institute of Electrical and Electronics Engineers Inc.
頁面1186-1191
頁數6
ISBN(列印)9781479923991
DOIs
出版狀態Published - 2014 一月 1
事件2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014 - Istanbul, Turkey
持續時間: 2014 六月 12014 六月 4

出版系列

名字IEEE International Symposium on Industrial Electronics

Other

Other2014 IEEE 23rd International Symposium on Industrial Electronics, ISIE 2014
國家Turkey
城市Istanbul
期間14-06-0114-06-04

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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  • 引用此

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