@inproceedings{b91463e3e1b647e097a80a5c352628b6,
title = "Cascaded PID-based Control for Unicycle Robots",
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.",
keywords = "cascade PID control, momentum wheel, stabilization, unicycle robot",
author = "Chenchao Ma and Zongshuai Yang and Naoyong Chen and Yuezu Lv",
note = "Publisher Copyright: {\textcopyright} 2024 IEEE.; 39th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2024 ; Conference date: 07-06-2024 Through 09-06-2024",
year = "2024",
doi = "10.1109/YAC63405.2024.10598429",
language = "English",
series = "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",
booktitle = "Proceedings - 2024 39th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2024",
address = "United States",
}