一輪車の姿勢安定化に関する研究

概要

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We describe a postural stabilization of a unicycle which has a swinging arm to stabilize rolling motion. The equations of motion for a nonholonomic constraint system are derived, and the equations are linearized and separated into two subsystems which are associated with pitching and rolling motions. The control system is based on the digital optimal theory and the state variables are estimated with finite-time settling observers using the data obtained from the internal sensors. The deviations of the state variables and their estimation errors caused by the sensing errors are evaluated. Experimental results show that the proposed swinging arm system is useful for the postural stabilization of the unicycle, and the finite-time settling observers are effective for estimating the state variables.
一般社団法人日本機械学会の論文
1996-08-25