Coupled Dynamic Control of Unicycle Robot Using Integral Linear Quadratic Regulator and Sliding Mode Controller

被引：3
|
作者：
Mohan, Shweda [1 ]
Nandagopal, J. L. [1 ]
Amritha, S. [1 ]
机构：
[1] Amrita Univ, Amrita Vishwa Vidyapeetham, Amrita Sch Engn, Dept Elect & Elect Engn, Coimbatore, Tamil Nadu, India
来源：
MATERIALS TODAY-PROCEEDINGS | 2018年 / 5卷 / 01期
关键词：
Decoupled dynamics; Dynamic equation; unicycle robot; velocity and trajectory control; sliding mode control; linear quadratic regulator (LQR) control; lyapunov function; WHEEL PENDULUM;
D O I：
10.1016/j.matpr.2017.11.232
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
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. (c) 2017 Elsevier Ltd. All rights reserved.
引用
收藏
页码：1447 / 1454
页数：8
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