IEEE - Institute of Electrical and Electronics Engineers, Inc. - Pitch Control of an Active Omni-wheeled Unicycle using LQR

2019 First International Symposium on Instrumentation, Control, Artificial Intelligence, and Robotics (ICA-SYMP)

Author(s): Sudarshan M Samarasinghe ; Manukid Parnichkun
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 2019
Conference Location: Bangkok, Thailand, Thailand
Conference Date: 16 January 2019
Page(s): 98 - 101
ISBN (Electronic): 978-1-5386-7774-2
ISBN (USB): 978-1-5386-7773-5
DOI: 10.1109/ICA-SYMP.2019.8646083
Regular:

Unicycle is a complex control system, it is unstable in both the pitch and roll directions. This paper presents a unique design for the unicycle using an active omni-wheel. This design makes the... View More

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