Single-wheel robots with yaw ability - Details

Author：

Zhu, X.-Q. (Zhu, X.-Q..) | Ruan, X.-G. (Ruan, X.-G..) | Sun, R.-Y. (Sun, R.-Y..) | Wang, X. (Wang, X..) | Wei, R.-Y. (Wei, R.-Y..)

Indexed by：

Scopus PKU CSCD

Abstract：

There　are　some　mistakes　in　the　state　eqution　derived　by　the　dynamic　equation　by　omitting　many　coupling　factors　for　the　sake　of　simpleness,　which　is　not　consistent　with　the　practice,　since　the　system　is　not　controllable.　Based　on　the　dynamic　equation,　and　combined　with　the　practice,　this　paper　gives　out　the　modified　state　equation,　making　sure　that　it　is　controlable.　A　LQR　controller　is　designed　to　stabilize　the　single-wheel　robot　(SWR)　and　to　make　it　yaw.　To　test　the　robustness　of　the　system,　two-step　disturbances　were　applied　on　the　lateral　and　longitudinal　direction,　respectively.　Both　the　simulation　and　the　experiment　results　verify　the　modified　state　equation,　which　lays　the　fundation　for　further　advanced　control　algrothim　to　be　performed　on　the　SWR.

Keyword：

Robustness; Single-wheel robot (SWR); State space equation; Yaw

Author Community：

[ 1 ] [Zhu, X.-Q.]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China
[ 2 ] [Zhu, X.-Q.]Centre for Intelligent Machine, McGill University, Montreal H3A 0C3, Canada
[ 3 ] [Ruan, X.-G.]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China
[ 4 ] [Sun, R.-Y.]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China
[ 5 ] [Wang, X.]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China
[ 6 ] [Wei, R.-Y.]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China

Reprint Author's Address：

[Ruan, X.-G.]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China

Email：

adrxg@bjut.edu.cn

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Source ：

Journal of Beijing University of Technology

ISSN： 0254-0037

Year： 2014

Issue： 7

Volume： 40

Page： 1099-1104

Cited Count：

WoS CC Cited Count：

SCOPUS Cited Count：

ESI Highly Cited Papers on the List： 0 Unfold All

WanFang Cited Count：

Chinese Cited Count：

30 Days PV： 7

Affiliated Colleges：

信息科学技术学院本学院/部未明确归属的数据

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