Nonlinear modeling and control of a unicycle
type: Item
instance of: scholarly article
title: Nonlinear modeling and control of a unicycle
zbMATH Open document ID: 0939.93027
DOI: 10.1023/A:1026481216262
author: Yoav Naveh
author: Yoram Halevi
author: P. Z. Bar-Yoseph
published in: Dynamics and Control
publication date: 2000-07-05T00:00:00Z
review text: A unicycle system is composed of a unicycle and a rider. This system is inherently unstable, but together with a skilled rider can be autonomously controlled and stabilized. An autonomous unicycle model has already been constructed and studied in previous papers by Schoonwinkel and Vos. The objective of the present paper is to continue the study of the unicycle control. A three-rigid body physical model is selected for the dynamical study of the system. A nonlinear control law, which replaces the rider in stabilizing the model is derived; it uses a nonlinear unicycle model. A simulation study shows good performance of this controller. Time spectral element methods are developed and used for integrating the nonlinear equations of motion.
Mathematics Subject Classification ID: 93C95
Mathematics Subject Classification ID: 93C10
Mathematics Subject Classification ID: 70Q05
Mathematics Subject Classification ID: 93D15
zbMATH DE Number: 1389588
zbMATH Keywords: stabilization
zbMATH Keywords: unicycle system
zbMATH Keywords: nonlinear control
reviewed by: Bozhidar Cheshankov
MaRDI profile type: Publication
full work available at URL: a:1026481216262
OpenAlex ID: W109361782
description: scientific article; zbMATH DE number 1389588