A self-balancing unicycle robot,which has a wheel for balancing and moving in the longitudinal plane (pitch angle),a vertical flywheel for balancing in the lateral plane (roll angle),and a flywheel in the horizontal plane(yaw angle) for yaw control is studied in this paper.The non-linear dynamic equations of the unicycle robot on level surface are analyzed using the Kane dynamic formulation,then a linear model of the robot is derived at the equilibrium point,and linear quadratic regulators (LQR) are designed to control the robot to change its yaw angle from 0on to 45on.Simulation results validated that the unicycle robot can achieve good performance in static standing and in dynamic moving.
展开▼
