On the stability and control of unicycles

DOI10.1098/RSPA.2009.0559MaRDI QIDQ3564974zbMATHOpenAlexFDO

Authors Robin S. Sharp

Publication date 27 May 2010

Published in Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1098/rspa.2009.0559

zbMATH Keywords

stabilitydynamicscontroltrackingunicyclenonlinear simulation mode

Mathematics Subject Classification ID

Control problems involving ordinary differential equations (34H05) Control/observation systems governed by ordinary differential equations (93C15) Robust stability (93D09) Linear optimal control problems (49N05)

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Cites work

• Linearized dynamics equations for the balance and steer of a bicycle: a benchmark and review

Cited in

(10)

• Control algorithm of unicycle robot based on the fuzzy control theory
• The theory of the control of a monocycle
• Nonlinear modeling and control of a unicycle
• Autonomous unicycle: modeling, dynamics, and control
• Steering control method for an underactuated unicycle robot based on dynamic model
• Dynamics of the unicycle. Modelling and experimental verification
• Dynamics of motorcycles: stability and control
• Dynamics and stability of unicycles and monocycles
• Fuzzy control for equilibrium and roll-angle tracking of an unmanned bicycle
• Dynamics analysis and robust control for electric unicycles under constrained control force

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