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.
S. Mohan, J., N., and Amritha S., “Coupled Dynamic Control of Unicycle Robot Using Integral Linear Quadratic Regulator and Sliding Mode Controller”, in Materials Today: Proceedings, 2018, vol. 5, pp. 1447-1454.