<p>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.</p>
N. J. L, .S, A., 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.