3D modeling and nonlinear control using algorithmic differentiation for mono-wheel robot

Abstract

This paper presents a method, Algorithmic Differentiation, that can compute a three dimensional (3D) nonlinear model and design the nonlinear controller, simultaneously. It has not been feasible using the conventional methods because of the complexity of the system. Moreover, the interesting work of the proposed method is noted that the head angle of the mono-wheel robot can be controlled although it lacks a yaw axis actuator. The simulation results of the stability of the system are shown.