Balance Control of a Unicycle Robot

Ho, Ming-Tzu and Rizal, Yusie and Chen, Yi-Lung (2014) Balance Control of a Unicycle Robot. In: IEEE 23rd International Symposium on Industrial Electronics (ISIE), 1-4 June 2014, Istanbul, Turkey.

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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.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: Unicycle robot, Sliding mode control, Feedback linearization
Subjects: T Technology > TK Electrical engineering. Electronic Engineering. Nuclear engineering > TK7800 Electronics
Divisions: Jurusan Teknik Elektro > D3 Elektronika
Depositing User: Mr. Yusie Rizal
Date Deposited: 22 Mar 2019 01:29
Last Modified: 22 Mar 2019 01:29
URI: http://repository.poliban.ac.id/id/eprint/220

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