Access Restriction

Author Daud, Y. ♦ Al Mamun, A. ♦ Jian-Xin Xu
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2013
Language English
Subject Domain (in DDC) Computer science, information & general works ♦ Data processing & computer science ♦ Technology ♦ Engineering & allied operations
Subject Keyword Wheels ♦ Turning ♦ Mathematical model ♦ Educational institutions ♦ Mobile robots ♦ MATLAB
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.
Description Author affiliation: Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore, Singapore (Daud, Y.; Al Mamun, A.; Jian-Xin Xu)
ISBN 9781467347075
ISSN 19483449
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2013-06-12
Publisher Place China
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
e-ISBN 9781467347082
Size (in Bytes) 638.44 kB
Page Count 6
Starting Page 1784
Ending Page 1789

Source: IEEE Xplore Digital Library