Please use this identifier to cite or link to this item: https://doi.org/10.1109/ICCA.2013.6565174
Title: Steering control of automatic lateral-pendulum unicycle by separate set-point controls of its longitudinal and lateral modes
Authors: Daud, Y.
Mamun, A.A. 
Xu, J.-X. 
Issue Date: 2013
Source: Daud, Y.,Mamun, A.A.,Xu, J.-X. (2013). Steering control of automatic lateral-pendulum unicycle by separate set-point controls of its longitudinal and lateral modes. IEEE International Conference on Control and Automation, ICCA : 1784-1789. ScholarBank@NUS Repository. https://doi.org/10.1109/ICCA.2013.6565174
Abstract: Automatic lateral-pendulum unicycle (ALP Cycle) is a unicycle robot with three main parts: wheel, chassis and pendulum. Its conceptual design is meant to mimic a human-ridden unicycle. It is an underactuated robot with only two actuators: wheel and pendulum motors, and five degrees of freedom. The wheel motor's function is to provide forward thrust while the pendulum motor provides steering torque. The combination of these forward thrust and steering torque results in gyroscopic effect which makes it possible for ALP Cycle to perform turning/yaw motion. In this paper, two separate linear quadratic integral controllers are designed for wheel and pendulum motors. The wheel-motor controller regulates the wheel's rotational speed based on the desired forward speed of ALP Cycle. The pendulum-motor controller regulates the lean angle of the ALP Cycle's wheel based on the desired turning speed of ALP Cycle. The performance of the controllers is shown by MATLAB simulation incorporating disturbance which represents wind. © 2013 IEEE.
Source Title: IEEE International Conference on Control and Automation, ICCA
URI: http://scholarbank.nus.edu.sg/handle/10635/71867
ISBN: 9781467347075
ISSN: 19483449
DOI: 10.1109/ICCA.2013.6565174
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.

SCOPUSTM   
Citations

3
checked on Mar 7, 2018

Page view(s)

26
checked on Mar 9, 2018

Google ScholarTM

Check

Altmetric


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.