Attitude Balancing and Tracking Control of Electric Unicycles

Based on nonlinear system dynamics analysis, this paper is focused on development of input constrained robust controller design for the electric unicycle. The investigated issues include the nonlinear dynamics derivation, robust control diagram formulation, and controller synthesis in terms of linear matrix inequalities. In this design approach, both the torque limitation imposed on the hub motor and parameters uncertainty due to riders variety will be addressed properly during the controller design.