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Publication Type : Conference Proceedings
Publisher : International Conference on Proceedings of Materials, Minerals and Energy, PMME 2016.
Source : International Conference on Proceedings of Materials, Minerals and Energy, PMME 2016. 2016
Keywords : decoupled dynamics, Dynamic equation, linear quadratic regulator (LQR) control, lyapunov function, sliding mode control, unicycle robot, velocity and trajectory control
Campus : Amritapuri
School : School of Engineering
Department : Electrical and Electronics
Year : 2016
Abstract : Unicycle robot is a non-linear, unbalance system that has the less number of point contact to the ground, therefore it is a best platform for researchers to study balance control and motion. This paper focuses on the dynamic modeling and control of unicycle robot. A coupled nonlinear system dynamics is considered for the controller design. Two different controllers are proposed – integral LQR for pitch dynamics and integral sliding mode for roll dynamics. Simulations performed on MATLAB/SIMULINK platform proved the effectiveness of the proposed controllers.
Cite this Research Publication : Nandagopal J. L., Amritha S., and Mohan, S., “Coupled dynamic control of unicycle robot using integral LQR and sliding mode controller”, International Conference on Proceedings of Materials, Minerals and Energy, PMME 2016. 2016