Title :
Stabilization of a unicycle using a Hamiltonian-based controller
Author :
Kobayashi, Naoki ; Kinoshita, Masaya ; Iwase, Masami ; Hatakeyama, Shoshiro
Author_Institution :
Sci. & Eng., Comput. & Syst. Eng., Tokyo Denki Univ., Saitama, Japan
Abstract :
The objective of this paper is to design a control system which supports an operator´s dexterity. In order to design the control system, it is necessary to make a mathematical model of the dynamics of a unicycle and analyze it. This paper focuses on the modeling, analysis and control method. A control input is obtained by model matching. Two models are the actual model and the desired model. The actual model is derived by Lagrange´s method, and the other is derived by the Hamiltonian method which stabilizes a unicycle. A numerical simulation is performed to evaluate the proposed control system.
Keywords :
control system synthesis; numerical analysis; road vehicles; stability; vehicle dynamics; Hamiltonian method; Hamiltonian-based controller; Lagrange method; actual model; control input; control method; control system design; desired model; mathematical model; model matching; modeling; numerical simulation; operator dexterity; stabilization; unicycle dynamics; Adaptation models; Mathematical model; Rotors;
Conference_Titel :
Control Conference (ECC), 2007 European
Conference_Location :
Kos
Print_ISBN :
978-3-9524173-8-6
