Dynamic Modeling And Control Of A Unicycle Robot

Unicycle robot is as an important part in the field of the mobile robot. The dynamical modle and control are more difficult than the four, three or two wheeled mobile robot. There is only one point of contact between the robot and ground. This system is belonging to the non holonomic constraints. The robot needs to keep pitch balance and roll balance. Because of its own characteristics in structure, the unicycle robot has the characteristics of multi variable, strong coupling and highly nonlinear. The balance control problem of the attitude will give a great challenge in the field of control theory. The study of this paper covers the analysis ofmechanics, robotics, control theory and application, MATLAB application, the neural network intelligent control and so on.A self balancing unicycle robot is as the object of study in this paper. The unicycle robot could be divided into the walking wheel, roll balance and yaw control mechanism. Through the motor driving the wheel, it could control the pitching balance. Through the balance weight moving around, it could control the rolling balance. Through the rotation of motor on the unicycle body, it could control the yaw control. The dynamic equations of the robot are presented based on the Routh equation. The PID, LQR, PID&LQR, the discrete controller and the are the adaptive controller based on RBF neural network are proposed in this paper aiming at the linear control and nonlinear control. Using the Simulink and the S-function module in Matlab and making the simulations of all the control system. From the results of the simulations, we could get the controllers can make the robot be balance in about2S. At the end of this paper, there is the initial prototype of the robot which includes the mechanical system and the monitoringcontrol system. It makes groundworks for the follow-up study.Unicycle robot is a typical nonlinear, strong coupling, underactuated and time-varying system. The research and development of this robot have a profound significance on the filed of control science and robotics...