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1、3814IEEETRANSACTIONSONINDUSTRIALELECTRONICS,VOL.60,NO.9,SEPTEMBER2013DecoupledDynamicControlforPitchandRollAxesoftheUnicycleRobotJaeohLee,SeongikHan,andJangmyungLeeAbstractThispaperproposesadecoupledcontrolalgorithmobtainedthedynamicsbasedupontheLagrangianofthesystemfo
2、rasingle-wheel(unicycle)balancedrobot.Aunicyclerobotisandimplementedthegain-schedulingalgorithmforrobustnesscontrolledbytwoindependentcontrollaws:themethodinvolving[3].Therollaxiscontroloftheunicyclerobothasrecentlybeenmobileinvertedpendulumcontrolforthepitchaxisandthe
3、alteredandstudiedbyusingtwoflyingpansatbothsidesofthemethodinvolvingreaction-wheelpendulumcontrolfortherollaxis.Weassumethatbothrolldynamicsandpitchdynamicsarerobot,wherethePDandPIDcontrollershavebeenadopted[4].decoupledfromeachother.Asaresult,therollandpitchdynamicsHow
4、ever,whiletherehasbeenalotofresearchfocusingonareobtainedindependentlyandallinteractionsbetweenthemaretherollaxiscontroloftherobot,noresearchresultshavebeenconsidereddisturbances.Eachcontrollawisimplementedbyanreportedforitsvelocitytrackingcontrol.individualcontroller,
5、i.e.,fuzzy-slidingmodecontrolforrollandOverthelastfouryears,severalunicyclerobotshavebeenlinearquadraticregulatorcontrolforpitch.FuzzylogicisutilizedtocompensatefortheinteractionsbetweenthepitchandrollimplementedintheIntelligentRobotLaboratoryatPusanNa-dynamicsinrealti
6、me.Theunicyclerobothastwodcmotors:onetionalUniversity.However,adynamicmodeloftherobothastodrivethediskforrollandtheothertodrivethewheelforpitch.proventoocomplextobeimplementedinrealtime[5]–[7].Sincethereisnoforcetochangetheyawdirection,thedynamicsofIntelligentalgorithm
7、sthatdidnotincorporatedynamicinfor-theyawdirectionisnotchangedinthispaper.Algorithmsforthemationalsoprovedunsuccessfulinthecontrolofthetrajectorydecoupleddynamicswereimplementedinarealunicyclerobot,whichwasmadetofollowadesiredtrajectoryalongastraightoftherobot.Tooverco
8、methesedifficulties,inthisapproach,line.Angledatawasobtainedbyfusionofthegyrosensorandthedynamicsoftheunicyclerobothas
