Dynamic Modeling And Control Of A Kind Of Unicycle Robot

As a simple self-balanced wheeled mobile robot, the unicycle robot is slim and flexible, it has wide application prospect. Unlike other self-balancing robots, the unicycle robot only has a single fulcrum, which is a special dynamic stabilizing robot. In addition, the unicycle robot is more complex in the balance control because of its non-linear, strong coupling, under-driven characteristics.Not only to control the pitching and rolling balance, but also the motion control of the yaw, therefore, the unicycle robot provides a good model platform for multidisciplinary research and practice, such as the unicycle robot and the theory and application of control, it has important scientific significance and application value in the field of automation.The unicycle robot in this paper is based on the predecessors of the lab.The mechanical structure can be divided into walking wheel mechanism, rolling balance mechanism and yaw control mechanism in general. The way to control the pitching balance is through adjusting the speed of the wheel, and the rolling balance is controlled through the balance pole, the yaw trajectory is controlled by the disc motor on the frame. A kind of dynamic model was proposed based on Appell equation. And the sliding mode controller and the robust controller were designed for the linear dynamic model. The validity of the control algo-rithms are testified by the simulations. A new unicycle robot was designed,the walking mechanism is two wheels that fixed on a short axis, it could solve the rolling balance of the robot without losing the advantages of flexibility and thinness, on the basis, its dynamic model was proposed based on Appell equa-tion. Aiming at the pitching subsystem, the nonlinear neural network control simulation experiment was completed, the linear sliding mode controller was designed, and the algorithms was testified by the Adams-Matlab simulation experiment.