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In this paper we present a synthesized integral sliding mode controller (ISMC) that can stabilize an underactuated unicycle system. The unicycle consists of a wheel and a saddle that is modeled as an inverse pendulum. The only driving force is the torque applied to the shaft of the wheel, hence it is underactuated. Based on a linear approximation model, a linear controller using LQR method is designed...
In this work we focus on the analysis and control of a unicycle that consists of a wheel and a saddle, in which only one actuator is used to generate a torque on the wheel, and the saddle is treated as an inverse pendulum. A sliding mode controller (SMC) with a hierarchical switching surfaces is designed such that the unicycle can reach any designated position while keeping the saddle stable. The...
In this paper we propose a new fuzzy logic controller (FLC) for unicycle control. The FLC design integrates the linear quadratic regulator (LQR) and the gain-scheduling approach. By comparing FLC with the LQR designed around an operating point, the FLC coefficients can be easily tuned in a systematic way. The new FLC design aims at achieving three objectives: overcoming the difficulty in tuning the...
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