Title :
Linearized two-loop posture and speed control of an electric unicycle
Author :
Lin, Shui-Chun ; Tsai, Ching-Chih ; Shih, Xuan-Quan ; Lu, Chih Haur
Author_Institution :
Dept. of Electron. Eng., Nat. Chin-Yi Univ. of Technol., Taiping, Taiwan
Abstract :
This paper presents techniques for dynamic modeling and two-loop posture and speed control of an electric unicycle. A completely dynamic model of the electric unicycle incorporating with viscous and static frictions is derived using Newtonian mechanics. With the model, a linearized two-loop control method is proposed to accomplish posture and velocity control (regulation) of the electric unicycle Computer simulations and experimental results are conducted to show the merit and effectiveness of the proposed control method.
Keywords :
Newton method; electric vehicles; friction; road vehicles; vehicle dynamics; velocity control; Newtonian mechanics; complete dynamic model; electric unicycle; posture control; speed control; static friction; velocity control; viscous friction; Wheels; electric unicycle; mechanics; modeling; self-balancing; sliding-mode control;
Conference_Titel :
System Science and Engineering (ICSSE), 2010 International Conference on
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-6472-2
DOI :
10.1109/ICSSE.2010.5551788
