TY - GEN
T1 - Dynamics and a convenient control design approach for a unicycle robot
AU - Zhao, Jie
AU - Xiong, Mei
AU - Jin, Hongzhe
PY - 2010
Y1 - 2010
N2 - In this paper, the dynamics model and a convenient lateral posture stabilization and longitudinal motion control algorithm of a unicycle robot are presented. The unicycle robot consists of a turntable for lateral posture balance, a cylindrical robot body, and a rolling wheel for longitudinal motion control. The dynamics of the unicycle system is derived using the Lagrangian formulation. In the conventional linearized model, important motion characteristics of the unicycle robot system are ignored, which makes against the control performance. To address this problem, a gain scheduling control method is proposed based on the nonlinear model and implemented by coordination of the separated lateral posture balance control and longitudinal motion control. Through simulation studies, the effectiveness of the proposed control algorithm is verified.
AB - In this paper, the dynamics model and a convenient lateral posture stabilization and longitudinal motion control algorithm of a unicycle robot are presented. The unicycle robot consists of a turntable for lateral posture balance, a cylindrical robot body, and a rolling wheel for longitudinal motion control. The dynamics of the unicycle system is derived using the Lagrangian formulation. In the conventional linearized model, important motion characteristics of the unicycle robot system are ignored, which makes against the control performance. To address this problem, a gain scheduling control method is proposed based on the nonlinear model and implemented by coordination of the separated lateral posture balance control and longitudinal motion control. Through simulation studies, the effectiveness of the proposed control algorithm is verified.
KW - Gain-Scheduling
KW - Nonlinear dynamics
KW - Separation of state space model
KW - Unicycle robot
UR - https://www.scopus.com/pages/publications/77955759318
U2 - 10.1109/ICINFA.2010.5512475
DO - 10.1109/ICINFA.2010.5512475
M3 - 会议稿件
AN - SCOPUS:77955759318
SN - 9781424457021
T3 - 2010 IEEE International Conference on Information and Automation, ICIA 2010
SP - 706
EP - 711
BT - 2010 IEEE International Conference on Information and Automation, ICIA 2010
T2 - 2010 IEEE International Conference on Information and Automation, ICIA 2010
Y2 - 20 June 2010 through 23 June 2010
ER -