Autonomous unicycle: modeling, dynamics, and control

DOI10.1007/S11044-023-09923-7MaRDI QIDQ6575321zbMATH OpenFDO

Authors Xincheng Cao, Dang Cong Bui, Dénes Takács, Gábor Orosz

Publication date 19 July 2024

Published in Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/S11044-023-09923-7

zbMATH Keywords

Appellian approachcontrol designelectric unicyclenonholonomic dynamics

Mathematics Subject Classification ID

Dynamics of multibody systems (70E55) Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05)

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Cites work

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• Nonlinear modeling and control of a unicycle
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• The wheeled three-link snake model: singularities in nonholonomic constraints and stick-slip hybrid dynamics induced by Coulomb friction
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Cited in

(1)

• Balancing riderless electric scooters at zero speed in the presence of a feedback delay

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