Gain-Scheduled Stabilization Control of a Unicycle Robot

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概要

• 論文の詳細を見る

• In this paper, the posture stabilization and longitudinal motion control of a unicycle robot is presented. This unicycle robot has two gyroscopes acting as an actuator for the lateral stabilization and a wheel as an actuator for the longitudinal stabilization. The system is modeled based on Lagrangian Dynamics and system identification method. A gain-scheduled robust control method is applied to enhance its disturbance attenuation ability so as to achieve better performance in posture stabilization and longitudinal motion control. Satisfactory experimental results are obtained.

• 一般社団法人日本機械学会の論文
• 2005-12-15

著者

• Liu Kang-zhi

  Department Of Mechanical And Engineers Chiba University

• Liu Kang-zhi

  Department Of Electronics And Mechanical Engineering Chiba University

• DAO Minh-Quan

  Department of Mechanical and Engineers, Chiba University

• Dao Minh-quan

  Department Of Mechanical And Engineers Chiba University

関連論文

• A Nonlinear Output Feedback Control Method for a 5DOF Active Magnetic Bearing System
• LPV Modelling and Gain-Scheduled Control Approach for the Transient Stabilization of Power Systems
• Gain-Scheduled Stabilization Control of a Unicycle Robot

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