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

Yusie Rizal, Chun Ting Ke, Ming-Tzu Ho

研究成果: Article同行評審

9 引文 斯高帕斯(Scopus)


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.

頁(從 - 到)4379-4384
期刊Proceedings - IEEE International Conference on Robotics and Automation
出版狀態Published - 2015 6月 29

All Science Journal Classification (ASJC) codes

  • 控制與系統工程
  • 軟體
  • 人工智慧
  • 電氣與電子工程


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