Abstract
This paper proposes an attitude control of a single wheel balanced robot. The unicycle robot is controlled by two independent control laws: the mobile inverted pendulum control for pitch axis and the reaction wheel pendulum control for roll axis. It is assumed that both roll and pitch dynamics are decoupled. Therefore the roll and pitch dynamics are obtained independently considering the interaction as disturbances to each other. Each control law is implemented by a controller separately. The unicycle robot has two DC motors to rotate the disk for roll and to drive the wheel for pitch. Experimental results show the performance of the controller and verify the effectiveness of the proposed control algorithm.
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© 2012 Springer-Verlag Berlin Heidelberg
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Li, Y., Lee, JO., Lee, J. (2012). Attitude Control of the Unicycle Robot Using Fuzzy-Sliding Mode Control. In: Su, CY., Rakheja, S., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2012. Lecture Notes in Computer Science(), vol 7508. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33503-7_7
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DOI: https://doi.org/10.1007/978-3-642-33503-7_7
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-33502-0
Online ISBN: 978-3-642-33503-7
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