{"title":"独轮车机器人的模糊滑模控制","authors":"Jae-Oh Lee, In-Woo Han, Jangmyung Lee","doi":"10.1109/URAI.2011.6145875","DOIUrl":null,"url":null,"abstract":"This paper proposes a single wheel balanced robot. In this paper, unicycle robot is implemented by the mobile inverted pendulum control method for pitch axis and the reaction wheel pendulum control method for roll axis. We assumed that both Roll dynamics and Pitch dynamics are decoupled. So, we obtained, respectively, the Roll dynamics and Pitch dynamics. And we designed the controller separately. Robot's angle data is obtained by a fusion of gyro sensor and accelerometer. Experiment results show the performance of the controller.","PeriodicalId":182404,"journal":{"name":"International Conference on Ubiquitous Robots and Ambient Intelligence","volume":"103 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"10","resultStr":"{\"title\":\"Fuzzy sliding mode control of unicycle robot\",\"authors\":\"Jae-Oh Lee, In-Woo Han, Jangmyung Lee\",\"doi\":\"10.1109/URAI.2011.6145875\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper proposes a single wheel balanced robot. In this paper, unicycle robot is implemented by the mobile inverted pendulum control method for pitch axis and the reaction wheel pendulum control method for roll axis. We assumed that both Roll dynamics and Pitch dynamics are decoupled. So, we obtained, respectively, the Roll dynamics and Pitch dynamics. And we designed the controller separately. Robot's angle data is obtained by a fusion of gyro sensor and accelerometer. Experiment results show the performance of the controller.\",\"PeriodicalId\":182404,\"journal\":{\"name\":\"International Conference on Ubiquitous Robots and Ambient Intelligence\",\"volume\":\"103 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1900-01-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"10\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"International Conference on Ubiquitous Robots and Ambient Intelligence\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/URAI.2011.6145875\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Conference on Ubiquitous Robots and Ambient Intelligence","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/URAI.2011.6145875","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
This paper proposes a single wheel balanced robot. In this paper, unicycle robot is implemented by the mobile inverted pendulum control method for pitch axis and the reaction wheel pendulum control method for roll axis. We assumed that both Roll dynamics and Pitch dynamics are decoupled. So, we obtained, respectively, the Roll dynamics and Pitch dynamics. And we designed the controller separately. Robot's angle data is obtained by a fusion of gyro sensor and accelerometer. Experiment results show the performance of the controller.
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