Abstract
This paper studies the tracking control problem of a unicycle robot. To enhance the stability of the unicycle robot, the front-back symmetric tilting dual momentum wheels are introduced, and the cascade PID-based controller is proposed. The experimental results show that the control method is effective in solving the tracking control problem of unicycle robot, which can ensure stabilization in all directions.
| Original language | English |
|---|---|
| Title of host publication | Proceedings - 2024 39th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2024 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 488-492 |
| Number of pages | 5 |
| ISBN (Electronic) | 9798350379228 |
| DOIs | |
| Publication status | Published - 2024 |
| Event | 39th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2024 - Dalian, China Duration: 7 Jun 2024 → 9 Jun 2024 |
Publication series
| Name | Proceedings - 2024 39th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2024 |
|---|
Conference
| Conference | 39th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2024 |
|---|---|
| Country/Territory | China |
| City | Dalian |
| Period | 7/06/24 → 9/06/24 |
Keywords
- cascade PID control
- momentum wheel
- stabilization
- unicycle robot
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Ma, C., Yang, Z., Chen, N., & Lv, Y. (2024). Cascaded PID-based Control for Unicycle Robots. In Proceedings - 2024 39th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2024 (pp. 488-492). (Proceedings - 2024 39th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2024). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/YAC63405.2024.10598429