Attitude Balancing and Tracking Control of Electric Unicycles

Author

Pang Chia Chen ; Hung Wei Lin ; Chih Huang Chiang ; Kuan Yu Hou

Author_Institution

Dept. of Electro-Opt. Sci. & Eng., Kao Yuan Univ., Kaohsiung, Taiwan

fYear

2014

fDate

10-12 June 2014

Firstpage

391

Lastpage

394

Abstract

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.

Keywords

attitude control; control system synthesis; electric vehicles; linear matrix inequalities; nonlinear dynamical systems; position control; road vehicles; robust control; torque control; attitude balancing control; controller synthesis; electric unicycles; input constrained robust controller design; linear matrix inequalities; nonlinear dynamics derivation; nonlinear system dynamics analysis; robust control diagram formulation; torque limitation; tracking control; Attitude control; Dynamics; Force; Linear matrix inequalities; Robustness; Tires; Vehicles; Electric unicycle; attitude balancing; personal vehicle; robust control; tracking control;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer, Consumer and Control (IS3C), 2014 International Symposium on

Conference_Location

Taichung

Type

conf

DOI

10.1109/IS3C.2014.108

Filename

6845900