• 综合性科技类中文核心期刊
    • 中国科技论文统计源期刊
    • 中国科学引文数据库来源期刊
    • 中国学术期刊文摘数据库(核心版)来源期刊
    • 中国学术期刊综合评价数据库来源期刊
ZHU Xiao-qing, RUAN Xiao-gang, SUN Rong-yi, WANG Xu, WEI Ruo-yan. Single-wheel Robots With Yaw Ability[J]. Journal of Beijing University of Technology, 2014, 40(7): 1099-1104.
Citation: ZHU Xiao-qing, RUAN Xiao-gang, SUN Rong-yi, WANG Xu, WEI Ruo-yan. Single-wheel Robots With Yaw Ability[J]. Journal of Beijing University of Technology, 2014, 40(7): 1099-1104.

Single-wheel Robots With Yaw Ability

More Information
  • Received Date: May 30, 2013
  • Available Online: January 10, 2023
  • There are some mistakes in the state eqution derived by the dynamic equation by omitting many coupling factors for the sake of simpleness, which is not consistent with the practice, since the system is not controllable. Based on the dynamic equation, and combined with the practice, this paper gives out the modified state equation, making sure that it is controlable. A LQR controller is designed to stabilize the single-wheel robot (SWR) and to make it yaw. To test the robustness of the system, twostep disturbances were applied on the lateral and longitudinal direction, respectively. Both the simulation and the experiment results verify the modified state equation, which lays the fundation for further advanced control algrothim to be performed on the SWR.
  • [1]
    SCHOONWINKEL A.Design and test of a computer stabilized unicycle[D].California:Department of Aeronautics and Astronautics, Stanford University, 1987.
    [2]
    VOS D W, FLOTOW A W.Dynamics and nonlinear adaptive control of an autonomous unicycle theroy and experiment[C]//Proceedings of IEEE CDC 29.New York:IEEE Inc, Honolulu, 1990:182-187.
    [3]
    郭磊, 廖启征, 魏世民, 等.独轮车机器人的动力学建模与非线性控制[J].系统仿真学报, 2009, 21 (9) :2730-2734.GUO Lei, LIAO Qi-zheng, WEI Shi-min.Dynamical modeling of unicycle robot and nonlinear control[J].Journal of System Simulation, 2009, 21 (9) :2730-2734. (in Chinese)
    [4]
    CIESLAK P, BURATOWSKI T, UHL T, et al.The monowheel robot with dynamic stabilization[J].Robotics and Autonomous Systems, 2011, 59:611-619.
    [5]
    BURATOWSKI T, CIESLAK P, GIERGIEL M, et al.A self-stabilising multipurpose single-wheel robot[J].Journal of Theoretical and Applied Mechanics, 2012, 50:99-118.
    [6]
    LEE J H, SHIN H J, LEE S J, et al.Novel air blowing control for balancing a unicycle robot[C]//IEEE 2010International Conference on Intelligent Robots and Systems.New York:IEEE Inc, 2010:2529-2530.
    [7]
    MURATA Manufacturing Co Ltd.Murata boy and Murata girl[EB/OL].[2008-05-10].http://www.murata.com.cn/corporate/boy_girl.
    [8]
    王启源.独轮自平衡机器人建模与控制研究[D].北京:北京工业大学电子信息与控制工程学院, 2011.WANG Qi-yuan.Single-wheeled self-balancing robot modeling and control[D].Beijing:College of Electronic Information and Control Engineering, Beijing University of Technology, 2011. (in Chinese)
    [9]
    熊梅.独轮机器人姿态控制研究[D].哈尔滨:哈尔滨工业大学机电工程学院, 2010.

    XIONG Mei.Study on posture control algorithm of the unicycle robot[D].Harbin:School of Mechatronics Engineering, Harbin Institute of Technology, 2010.
    [10]
    XU Y S, AU S K W.Stabilization and path following of a single wheel robot[J].IEEE Transactions on Mechatronics, 2004, 9 (2) :407-419.
    [11]
    AU S K W, XU Y S, YU W W K.Control of tilt-up motion of a single wheel robot via model-based and human-based controllers[J].Mechatronics, 2011, 11 (4) :451-473.
    [12]
    XU Y S, BROWN H B, AU K W.Dynamic mobility with single-wheel configuration[J].International Journal of Robotics Research, 1999, 18:728-738.
    [13]
    BROWN H B, XU Y S.A single-wheel, gyroscopically stabilized robot[J].IEEE Robotics&Automation Magazine, 1997, 4 (3) :39-44.
    [14]
    MAJIMA S, KASAI T, KADOHARA T.A design of a control method for changing yaw direction of an underactuated unicycle robot[C]//IEEE Region 10 Annual International Conference.New York:IEEE Inc, 2006.
    [15]
    白占军.六自由度独轮机器人本体研制及动力学控制方法研究[D].哈尔滨:哈尔滨工业大学机电工程学院, 2011.BAI Zhan-jun.Research on body tructure and dynamic control method of 6-dof unicycle robot[D].Harbin:School of Mechatronics Engineering, Harbin Institute of Technology, 2011. (in Chinese)
    [16]
    邓文波.独轮机器人建模与控制研究[D].北京:北京工业大学电子信息与控制工程学院, 2012.DENG Wen-bo.Research of modeling and control for a unicycle robot[D].Beijing:College of Electronic Information and Control Engineering, Beijing University of Technology, 2012. (in Chinese)
  • Related Articles

    [1]XING Zhixiang, LIU Xiucheng, WANG Xianxian, NING Mengshuai, ZHANG Meng, GAO Ming, HE Cunfu. Robust and Quantitative Prediction of Surface Hardened Layer Depth of 45 Steel Using Micro-magnetic Testing Method[J]. Journal of Beijing University of Technology, 2024, 50(9): 1049-1060. DOI: 10.11936/bjutxb2022120023
    [2]WANG Wei, ZHU Junyi, LIU Chaofeng, WANG Zhitao. Anti-destructive and Robustness of Urban Epidemic Prevention Medical Rescue Network[J]. Journal of Beijing University of Technology, 2024, 50(5): 583-590. DOI: 10.11936/bjutxb2023050018
    [3]ZHONG Lu-sheng, CHEN Li-yong, YANG Hui, GONG Jin-hong, ZHANG Yong-xian, ZHU Zhen-min. Gear Wear Prediction Based on Robust Least Squares Support Vector Machine[J]. Journal of Beijing University of Technology, 2014, 40(7): 1028-1034,1047.
    [4]CHEN Yan-feng. Robust H_∞ Control for Time-varying Delay Systems With Nonlinear Perturbation and Polytopic Uncertainty[J]. Journal of Beijing University of Technology, 2014, 40(2): 206-213.
    [5]WANG Yong-liang, ZHANG Xing-chen, JIANG Yang, ZHU Yu-ting. Urban Rail Transit Network Operation Robustness[J]. Journal of Beijing University of Technology, 2013, 39(7): 1014-1020.
    [6]Song Su, Sun Liang, Fang Suiming, Yi Jikai. A Stability Theorem of the Modeling Error System for Robust Self-Turning Control[J]. Journal of Beijing University of Technology, 1999, 25(3): 43-47.
    [7]Song Su, Ruan Xiaogang, Xu Ningshou, Zhao Guoliang. A Robust Self-Tuning Controller With Identified Deadzone and Reduced Models[J]. Journal of Beijing University of Technology, 1999, 25(1): 20-26.
    [8]Song Su, Wang Pu, Zhao Guoliang. The Robust Self-Tuning Control with μ Mean Approaching Strongly to Zero[J]. Journal of Beijing University of Technology, 1998, 24(4): 33-42.
    [9]Zhang Jianling, Li Zhe, Bai Shixian. The Robust Design of the Linkages With Clearances Through Minimizing the Sensitivity to the Clearance Size[J]. Journal of Beijing University of Technology, 1996, 22(2): 10-16.
    [10]Tan Liyang, Weber T W. Robustness of A Biased Estimator with Easily-Tuned Parameters[J]. Journal of Beijing University of Technology, 1994, 20(1): 31-36.

Catalog

    Article views (14) PDF downloads (10) Cited by()

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return