Rizal, Yusie and Ke, Chun-Ting and Ho, Ming-Tzu (2015) Point-to-Point Motion Control of a Unicycle Robot: Design, Implementation, and Validation. In: IEEE International Conference on Robotics and Automation (ICRA), 26-30 May 2015, Seattle, USA.
This is the latest version of this item.
![]() |
Text
rizal2015point.pdf - Published Version Restricted to Repository staff only Available under License Creative Commons Attribution Non-commercial Share Alike. Download (1MB) |
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 highorder 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.
Item Type: | Conference or Workshop Item (Paper) |
---|---|
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 01:31 |
Last Modified: | 22 Mar 2019 01:31 |
URI: | http://repository.poliban.ac.id/id/eprint/223 |
Available Versions of this Item
-
Point-to-Point Motion Control of a Unicycle Robot: Design,
Implementation, and Validation. (deposited 20 Mar 2019 23:09)
- Point-to-Point Motion Control of a Unicycle Robot: Design, Implementation, and Validation. (deposited 22 Mar 2019 01:31) [Currently Displayed]
Actions (login required)
![]() |
View Item |