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. |
[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)
|
[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. |