摘要
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.
| 源语言 | 英语 |
|---|---|
| 主期刊名 | Proceedings - 2024 39th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2024 |
| 出版商 | Institute of Electrical and Electronics Engineers Inc. |
| 页 | 488-492 |
| 页数 | 5 |
| ISBN（电子版） | 9798350379228 |
| DOI | |
| 出版状态 | 已出版 - 2024 |
| 活动 | 39th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2024 - Dalian, 中国 期限: 7 6月 2024 → 9 6月 2024 |
出版系列
| 姓名 | Proceedings - 2024 39th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2024 |
|---|
会议
| 会议 | 39th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2024 |
|---|---|
| 国家/地区 | 中国 |
| 市 | Dalian |
| 时期 | 7/06/24 → 9/06/24 |
指纹
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Ma, C., Yang, Z., Chen, N., & Lv, Y. (2024). Cascaded PID-based Control for Unicycle Robots. 在 Proceedings - 2024 39th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2024 (页码 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