Controller design of unicycle mobile robot

Controller design of unicycle mobile robot

The ability of unicycle mobile robot to stand and move around using one wheel has attracted a lot of researchers to conduct studies about the system, particularly in the design of the system mechanisms and the control strategies. This paper reports the investigation done on the design of the control...

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Main Authors: Ab Rashid, Mohd Zamzuri, Sidek, Shahrul Na'im
Format: Article
Language:English
Published: IIUM Press 2012
Subjects:
TA164 Bioengineering
TA168 Systems engineering
Online Access:http://irep.iium.edu.my/26403/
http://irep.iium.edu.my/26403/
http://irep.iium.edu.my/26403/2/314-1655-1-PB.pdf
id iium-26403
recordtype eprints
spelling iium-264032012-11-08T01:13:36Z http://irep.iium.edu.my/26403/ Controller design of unicycle mobile robot Ab Rashid, Mohd Zamzuri Sidek, Shahrul Na'im TA164 Bioengineering TA168 Systems engineering The ability of unicycle mobile robot to stand and move around using one wheel has attracted a lot of researchers to conduct studies about the system, particularly in the design of the system mechanisms and the control strategies. This paper reports the investigation done on the design of the controller of the unicycle mobile robot system in maintaining its stability in the longitudinal and lateral directions. The controller proposed is a Linear Quadratic Controller (LQR) type which is based on the linearized model of the system. A thorough simulation studies to find out the performance of the LQR controller have been carried out. The best controller gain, K acquired through the simulation is selected to be implemented and tested in the experimental hardware. Finally, the results obtained from the experimental study are compared to the simulation results to study the controller efficacy. The analysis shows that the proposed controller design is able to stabilize the unicycle mobile robot. IIUM Press 2012 Article PeerReviewed application/pdf en http://irep.iium.edu.my/26403/2/314-1655-1-PB.pdf Ab Rashid, Mohd Zamzuri and Sidek, Shahrul Na'im (2012) Controller design of unicycle mobile robot. IIUM Engineering Journal, 13 (2). pp. 176-197. ISSN 1511-788X http://www.iium.edu.my/ejournal/index.php/iiumej/article/viewFile/314/347
repository_type Digital Repository
institution_category Local University
institution International Islamic University Malaysia
building IIUM Repository
collection Online Access
language English
topic TA164 Bioengineering
TA168 Systems engineering
spellingShingle TA164 Bioengineering
TA168 Systems engineering
Ab Rashid, Mohd Zamzuri
Sidek, Shahrul Na'im
Controller design of unicycle mobile robot
description The ability of unicycle mobile robot to stand and move around using one wheel has attracted a lot of researchers to conduct studies about the system, particularly in the design of the system mechanisms and the control strategies. This paper reports the investigation done on the design of the controller of the unicycle mobile robot system in maintaining its stability in the longitudinal and lateral directions. The controller proposed is a Linear Quadratic Controller (LQR) type which is based on the linearized model of the system. A thorough simulation studies to find out the performance of the LQR controller have been carried out. The best controller gain, K acquired through the simulation is selected to be implemented and tested in the experimental hardware. Finally, the results obtained from the experimental study are compared to the simulation results to study the controller efficacy. The analysis shows that the proposed controller design is able to stabilize the unicycle mobile robot.
format Article
author Ab Rashid, Mohd Zamzuri
Sidek, Shahrul Na'im
author_facet Ab Rashid, Mohd Zamzuri
Sidek, Shahrul Na'im
author_sort Ab Rashid, Mohd Zamzuri
title Controller design of unicycle mobile robot
title_short Controller design of unicycle mobile robot
title_full Controller design of unicycle mobile robot
title_fullStr Controller design of unicycle mobile robot
title_full_unstemmed Controller design of unicycle mobile robot
title_sort controller design of unicycle mobile robot
publisher IIUM Press
publishDate 2012
url http://irep.iium.edu.my/26403/
http://irep.iium.edu.my/26403/
http://irep.iium.edu.my/26403/2/314-1655-1-PB.pdf
first_indexed 2023-09-18T20:39:21Z
last_indexed 2023-09-18T20:39:21Z
_version_ 1777409260511035392

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