Nonlinear modeling and control of a unicycle

DOI10.1023/A:1026481216262MaRDI QIDQ1961284zbMATH OpenOpenAlexFDO

Authors Yoav Naveh, Yoram Halevi, P. Z. Bar-Yoseph

Publication date 5 July 2000

Published in Dynamics and Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1023/a:1026481216262

zbMATH Keywords

nonlinear controlstabilizationunicycle system

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Nonlinear systems in control theory (93C10) Application models in control theory (93C95) Stabilization of systems by feedback (93D15)

Review text

A unicycle system is composed of a unicycle and a rider. This system is inherently unstable, but together with a skilled rider can be autonomously controlled and stabilized. An autonomous unicycle model has already been constructed and studied in previous papers by Schoonwinkel and Vos. The objective of the present paper is to continue the study of the unicycle control. A three-rigid body physical model is selected for the dynamical study of the system. A nonlinear control law, which replaces the rider in stabilizing the model is derived; it uses a nonlinear unicycle model. A simulation study shows good performance of this controller. Time spectral element methods are developed and used for integrating the nonlinear equations of motion.

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(11)

• The Lyapunov-Malkin theorem and stabilization of the unicycle with rider
• Dynamics analysis and robust control for electric unicycles under constrained control force
• A high-order discontinuous Galerkin method with mesh refinement for optimal control
• Steering control method for an underactuated unicycle robot based on dynamic model
• Dynamics and stability of unicycles and monocycles
• The theory of the control of a monocycle
• Nonsingular path following control of a unicycle in the presence of parametric modelling uncertainties
• On the stability and control of unicycles
• Dynamics of the unicycle. Modelling and experimental verification
• Control of a nonlinear and linearized model of self-balancing electric motorcycle
• Autonomous unicycle: modeling, dynamics, and control

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