IEEE - Institute of Electrical and Electronics Engineers, Inc. - A sliding mode control scheme for an underactuated unicycle

2009 IEEE International Conference on Control and Automation (ICCA)

Author(s): Jian-Xin Xu ; Zhaoqin Guo ; Tong Heng Lee
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 December 2009
Conference Location: Christchurch, New Zealand, New Zealand
Conference Date: 9 December 2009
Page(s): 897 - 902
ISBN (CD): 978-1-4244-4707-7
ISBN (Paper): 978-1-4244-4706-0
DOI: 10.1109/ICCA.2009.5410284
Regular:

In this work we focus on the analysis and control of a unicycle that consists of a wheel and a saddle, in which only one actuator is used to generate a torque on the wheel, and the saddle is... View More

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