Lateral dynamic modelling and control of a single wheel robot based on airflow flywheel

The lateral balance of single wheel robot is a challenge for researchers, this paper proposes a single wheel robot applying airflow flywheel to maintain lateral balance, and derives the dynamic model on the lateral direction according to Lagrange equation. The simulation results using Matlab/Simulink tools show that the proposed mathematical model is believable. Based on the dynamic model, PID and LQR controllers are designed and performed in simulation prototype. The simulation results verify the proposed mechanism is feasible and more energy efficient.