Lateral stabilization of a single wheel robot applying electromagnetic force

Author

Ruan, Xiaogang ; Zhu, Xiaoqing ; Li, Yalei ; Wei, Ruoyan

Author_Institution

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

fYear

2012

fDate

6-8 July 2012

Firstpage

3675

Lastpage

3680

Abstract

The lateral stabilization of single wheel robot is a challenge for researchers. We proposed a new mechanism to solve the problem by applying electromagnetic force. The mechanism was described briefly, and after dynamic analyses of the robot, its state space equation was obtained. The prototype was built in ADAMS, and integrated with MATLAB a PID controller and a LQR controller were performed respectively. A simple physical experiment was carried out on inverted pendulum applying Lorentz force. Simulation and physical experiment results show that the proposed mechanism is feasible and more energy efficient.

Keywords

electromagnetic forces; linear quadratic control; mobile robots; nonlinear control systems; robot dynamics; stability; state-space methods; three-term control; wheels; ADAMS; LQR controller; Lorentz force; MATLAB; PID controller; dynamic analysis; electromagnetic force; inverted pendulum; lateral stabilization; single wheel robot; state space equation; Coils; Force; Lorentz covariance; Mathematical model; Mobile robots; Wheels; Dynamic Analyses; Inverted Pendulum; LQR; Lateral Stabilization Mechanism; Single Wheel Robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation (WCICA), 2012 10th World Congress on

Conference_Location

Beijing

Print_ISBN

978-1-4673-1397-1

Type

conf

DOI

10.1109/WCICA.2012.6359085

Filename

6359085