Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/77717
Title: Underactuated Single-Wheeled Mobile Robot Mimicking a Human-Ridden Unicycle
Authors: YOHANES DAUD
Keywords: Robot Modelling, Robot Control, Robot Development, Underactuated System, Mobile Robot, Unicycle
Issue Date: 22-Jan-2014
Citation: YOHANES DAUD (2014-01-22). Underactuated Single-Wheeled Mobile Robot Mimicking a Human-Ridden Unicycle. ScholarBank@NUS Repository.
Abstract: This thesis is about the comprehensive investigation of a type of unicycle robot stabilised by a lateral pendulum. A lateral pendulum is an inverted pendulum mounted on the robot?s chassis which swings sideways to provide lateral stabilisation capability. A prototype is designed and constructed from total scratch. Its development process involves mechanical design, electronics selection, control design, computer programming and system integration. A mathematical model is derived by Euler-Lagrange method for simulation study and analysis. Four formulae for lateral set-point control and turning-motion control are derived. Posture-balancing and manoeuvring tasks are investigated. A control scheme comprising of two separate robust controllers is designed for posture balancing. For manoeuvring, two control schemes based on linear quadratic method and gain-scheduling technique are proposed. All control schemes for both posture balancing and manoeuvring are verified by numerical simulations. Lastly, experiments of posture balancing are conducted with the developed prototype.
URI: http://scholarbank.nus.edu.sg/handle/10635/77717
Appears in Collections:Ph.D Theses (Open)

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02Declaration.pdf43.45 kBAdobe PDF

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03Acknowledgements.pdf52.45 kBAdobe PDF

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04Contents.pdf59.76 kBAdobe PDF

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05Summary.pdf85.29 kBAdobe PDF

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06ListsofFiguresandTables.pdf142.97 kBAdobe PDF

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13Publications.pdf75.94 kBAdobe PDF

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08Chapters1-2.pdf7.23 MBAdobe PDF

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09Chapters3-5.pdf22.54 MBAdobe PDF

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10Chapters6-7.pdf9.34 MBAdobe PDF

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11AppendicesA-D.pdf1.15 MBAdobe PDF

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12Bibliography.pdf98.96 kBAdobe PDF

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07Nomenclature.pdf99.21 kBAdobe PDF

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