Balancing control of unicycle robot by using sliding control

• 作 者: Inwoo Han Jaewon An Hyunwoo Ki
• 机 构: Dept.ofElectricalEngineering
• 出 处: 测试科学与仪器：英文版
• 发表日期: 2012年4期
• 关键词: 自动化系统 数据处理 数据收集 自动分类 balancing control sliding control dynamic equation lagrange
• 基金项目: The MKE（The Ministry of Knowledge Economy）, Korea, under the ITRC（Information Technology Research Center） support program supervised by the N1PA（National IT Industry Promotion Agency） （NIPA-2012 H0301

This paper discusses about balancing control of unicycle robot.Unicycle robot consists of pitch which acts like inverted pendulum and roll which acts like reaction wheel pendulum.The robot which does not have actuator located in yaw axis is made to derive