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This paper proposes the use Fuzzy logic controller and a Particle Swarm Optimization (PSO) based Linear Quadratic Regulator (LQR) controller for the balance of an electric unicycle. It also examines dynamics of the electric unicycle's schematic design, which has a backing seat for the passenger and is analogous to the Segway device equipped with a handle shaft for direction. A proportional derivative...
In this paper, several controllers were proposed and developed to control and maintain the balance of electric unicycle. The proposed controllers are Linear Quadratic Regulator (LQR), Linear Quadratic Regulator with Integral action (LQRI) and Feedback Linearization controller (FBL). Then a comparison is held based on disturbance rejection and tracking ability for desired unicycle speed. The performance...
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