Steering Control Method for an Underactuated Unicycle Robot Based on Dynamic Model
Joint Authors
Zhao, Jie
Zhu, Yanhe
Jin, Hongzhe
Zhang, Hui
Liu, Zhangxing
Zhang, Yang
Liu, Yubin
Source
Mathematical Problems in Engineering
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-11-18
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
This paper proposes a lateral balancing structure based on precession effect of double-gyroscopes and its associated control strategy of the steering for an underactuated unicycle robot.
Double-gyroscopes are symmetrically designed on the top of the unicycle robot and utilized to adjust the lateral balance of system.
Such design can inhibit the disturbance of the gyroscope system to the pitch angle and is beneficial to maintain the lateral balance in the case of large roll angle fluctuations.
Based on the analysis of the dynamics model, the gyroscope precession effects will be caused by the angular velocity of the bottom wheel and the roll angular velocity, i.e., resulting in a torque in the direction of the yaw.
Then, a rapid response control strategy is proposed to use the torque to control the steering.
Simulation results demonstrate the rationality of the lateral balance structure and the feasibility of the steering control method.
American Psychological Association (APA)
Jin, Hongzhe& Zhang, Yang& Zhang, Hui& Liu, Zhangxing& Liu, Yubin& Zhu, Yanhe…[et al.]. 2018. Steering Control Method for an Underactuated Unicycle Robot Based on Dynamic Model. Mathematical Problems in Engineering،Vol. 2018, no. 2018, pp.1-13.
https://search.emarefa.net/detail/BIM-1207871
Modern Language Association (MLA)
Jin, Hongzhe…[et al.]. Steering Control Method for an Underactuated Unicycle Robot Based on Dynamic Model. Mathematical Problems in Engineering No. 2018 (2018), pp.1-13.
https://search.emarefa.net/detail/BIM-1207871
American Medical Association (AMA)
Jin, Hongzhe& Zhang, Yang& Zhang, Hui& Liu, Zhangxing& Liu, Yubin& Zhu, Yanhe…[et al.]. Steering Control Method for an Underactuated Unicycle Robot Based on Dynamic Model. Mathematical Problems in Engineering. 2018. Vol. 2018, no. 2018, pp.1-13.
https://search.emarefa.net/detail/BIM-1207871
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1207871