2011 | OriginalPaper | Buchkapitel
Adaptive Sliding-Mode Speed Control for Electric Unicycle
verfasst von : Shui-Chun Lin
Erschienen in: Next Wave in Robotics
Verlag: Springer Berlin Heidelberg
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This paper presents an adaptive hierarchical decoupling sliding-mode speed controller for an electric unicycle. A completely dynamic model of the electric unicycle moving in a flat terrain is derived using Lagrangian mechanics. With the model, an aggregated hierarchical sliding-mode control is used to accomplish robust self-balancing and velocity control (regulation) of the electric unicycle incorporating with viscous and static frictions. Computer simulations and experimental results are conducted for illustration of the effectiveness and applicability of the proposed control method.