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https://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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01Cover.pdf | 39.05 kB | Adobe PDF | OPEN | None | View/Download | |
02Declaration.pdf | 43.45 kB | Adobe PDF | OPEN | None | View/Download | |
03Acknowledgements.pdf | 52.45 kB | Adobe PDF | OPEN | None | View/Download | |
04Contents.pdf | 59.76 kB | Adobe PDF | OPEN | None | View/Download | |
05Summary.pdf | 85.29 kB | Adobe PDF | OPEN | None | View/Download | |
06ListsofFiguresandTables.pdf | 142.97 kB | Adobe PDF | OPEN | None | View/Download | |
13Publications.pdf | 75.94 kB | Adobe PDF | OPEN | None | View/Download | |
08Chapters1-2.pdf | 7.23 MB | Adobe PDF | OPEN | None | View/Download | |
09Chapters3-5.pdf | 22.54 MB | Adobe PDF | OPEN | None | View/Download | |
10Chapters6-7.pdf | 9.34 MB | Adobe PDF | OPEN | None | View/Download | |
11AppendicesA-D.pdf | 1.15 MB | Adobe PDF | OPEN | None | View/Download | |
12Bibliography.pdf | 98.96 kB | Adobe PDF | OPEN | None | View/Download | |
07Nomenclature.pdf | 99.21 kB | Adobe PDF | OPEN | None | View/Download |
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