Modeling with Euler-Lagrang Equation and Cybernetical Analysis for a Unicycle Robot

Author

Ruan, Xiaogang ; Hu, Jingmin ; Wang, Qiyuan

Author_Institution

Sch. of Electron. Inf. & Control Eng., Beijing Univ. of Technol., Beijing, China

Volume

2

fYear

2009

fDate

10-11 Oct. 2009

Firstpage

108

Lastpage

111

Abstract

In this paper we study the dynamic modeling of a unicycle robot composed of a wheel, a frame and a disk. The unicycle can reach longitudinal stability by appropriate control to the wheel and lateral stability by adjusting appropriate torque imposed by the disk. The dynamic modeling of the unicycle robot is derived by Euler-Lagrange method. The stability and controllability of the system are analyzed according to the mathematic model. Independent simulation using MATLAB and ODE methods are then proposed respectively. Through the simulation, we confirm the validity of the two obtained models of the unicycle robot system, and provide two experimental platforms for the designing of the balance controller.

Keywords

control system analysis; controllability; cybernetics; differential equations; mobile robots; position control; robot dynamics; stability; torque control; Euler-Lagrange equation; MATLAB; ODE simulation; balance controller design; controllability; cybernetical analysis; dynamic modeling; lateral stability; longitudinal stability; mathematic model; torque adjustment; unicycle robot; Control engineering; Intelligent robots; Mathematical model; Mobile robots; Nonlinear equations; Robot kinematics; Robotics and automation; Stability; Torque; Wheels; Dynamical Modeling; Euler-Lagrang equation; Open Dynamics Engine (ODE); Unicycle Robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Computation Technology and Automation, 2009. ICICTA '09. Second International Conference on

Conference_Location

Changsha, Hunan

Print_ISBN

978-0-7695-3804-4

Type

conf

DOI

10.1109/ICICTA.2009.263

Filename

5288295