Balancing and Velocity Control of a Unicycle Robot Based on the Dynamic Model

Han, Seong-Ik; Lee, Jang Myung

doi:10.1109/tie.2014.2327562

Cited by 69 publications

(22 citation statements)

References 19 publications

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“…Do et al, [10] designed path tracking controllers for controlling unicycle-type mobile robots. Han et al, [11] employed a dynamic-model-based control method for the balancing and velocity control of a unicycle robot. An integral linear quadratic regulator and sliding mode controller on a unicycle robot was implemented by Moham et al, [12].…”

Section: Control Methodsmentioning

confidence: 99%

AU DIY-Unicycle Balancing and Riding System (AU DIY-UBRS)

Aphiratsakun

Limpakhuptathaworn

Kongthon

2018

MATEC Web of Conferences

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Abstract. This paper presents and discusses the Assumption University unicycle (hereafter referred to as AU unicycle). The AU unicycle was built on campus, and it can work in two modes: balancing control and riding control. A gyroscope and an accelerometer sensor are used as sensors to sense the balancing position of the unicycle. A DC motor equipped with a gear set, sprockets, and a chain acts as an actuator to operate the wheel of the unicycle system. The main contribution and the objective of this paper are to demonstrate the implementation methodology and the balancing and riding control methods of the AU unicycle. The experiments on the AU unicycle show good results for both the balancing control method and the riding control method.

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Section: Control Methodsmentioning

confidence: 99%

AU DIY-Unicycle Balancing and Riding System (AU DIY-UBRS)

Aphiratsakun

Limpakhuptathaworn

Kongthon

2018

MATEC Web of Conferences

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“…Tracking control and correction: [164], [174], [175] [167], [180], [182] [184], [186], [190] [191] Collaboration: [179], [187] Mobile Robots Localization: [165], [169], [172] Navigation: [166], [168], [171] [173], [181], [188] Collaboration: [176]- [178], [185] Other operations: [163], [183], [192] to be one of the most efficient control schemes for complex industrial processes due to the difficulty in obtaining accurate mathematical control models [155] and to the frequent existence of nonlinearities and stochastic disturbances [156]. In fact, data delivery latency is among the most active topics in the NCS field recently.…”

Section: Stationary Robotsmentioning

confidence: 99%

Data Management in Industry 4.0: State of the Art and Open Challenges

2019

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Information and communication technologies are permeating all aspects of industrial and manufacturing systems, expediting the generation of large volumes of industrial data. This article surveys the recent literature on data management as it applies to networked industrial environments and identifies several open research challenges for the future. As a first step, we extract important data properties (volume, variety, traffic, criticality) and identify the corresponding data enabling technologies of diverse fundamental industrial use cases, based on practical applications. Secondly, we provide a detailed outline of recent industrial architectural designs with respect to their data management philosophy (data presence, data coordination, data computation) and the extent of their distributiveness. Then, we conduct a holistic survey of the recent literature from which we derive a taxonomy of the latest advances on industrial data enabling technologies and data centric services, spanning all the way from the field level deep in the physical deployments, up to the cloud and applications level. Finally, motivated by the rich conclusions of this critical analysis, we identify interesting open challenges for future research. The concepts presented in this article thematically cover the largest part of the industrial automation pyramid layers. Our approach is multidisciplinary, as the selected publications were drawn from two fields; the communications, networking and computation field as well as the industrial, manufacturing and automation field. The article can help the readers to deeply understand how data management is currently applied in networked industrial environments, and select interesting open research opportunities to pursue.

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“…In most studies of unicycle robot, lateral balance has been emphasized with attention. According to the lateral balance methods, the unicycle robot can be classified into horizontal flywheel [1][2][3][4][5][6], vertical flywheel [7][8][9][10][11][12][13], highspeed gyros named Gyrover [14][15][16][17][18][19] and gyro precession with two gyroscopes [20,21]. However, most of researches focus on balance control and neglect control of steering.…”

Section: Introductionmentioning

confidence: 99%

Steering Control Method for an Underactuated Unicycle Robot Based on Dynamic Model

Jin

Zhang

Liu

et al. 2018

Mathematical Problems in Engineering

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This paper proposes a lateral balancing structure based on precession effect of double-gyroscopes and its associated control strategy of the steering for an underactuated unicycle robot. Double-gyroscopes are symmetrically designed on the top of the unicycle robot and utilized to adjust the lateral balance of system. Such design can inhibit the disturbance of the gyroscope system to the pitch angle and is beneficial to maintain the lateral balance in the case of large roll angle fluctuations. Based on the analysis of the dynamics model, the gyroscope precession effects will be caused by the angular velocity of the bottom wheel and the roll angular velocity, i.e., resulting in a torque in the direction of the yaw. Then, a rapid response control strategy is proposed to use the torque to control the steering. Simulation results demonstrate the rationality of the lateral balance structure and the feasibility of the steering control method.

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Balancing and Velocity Control of a Unicycle Robot Based on the Dynamic Model

Cited by 69 publications

References 19 publications

AU DIY-Unicycle Balancing and Riding System (AU DIY-UBRS)

AU DIY-Unicycle Balancing and Riding System (AU DIY-UBRS)

Data Management in Industry 4.0: State of the Art and Open Challenges

Steering Control Method for an Underactuated Unicycle Robot Based on Dynamic Model

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