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All Journal Indonesian Journal of Engineering and Science (IJES)
Manh-Tuan Tran
Faculty of High Quality Training, Ho Chi Minh city University of Technology (HCMUTE), Ho Chi Minh city, Vietnam
Energy Engineering Materials Science & Nanotechnology Mechanical Engineering

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A METHOD OF PD CONTROL FOR BALANCING A UNICYCLE ROBOT Van Dong Hai Nguyen; Thanh-Dong Pham; Manh-Tuan Tran; Ngoc-Bao Bui; Van-Nghia Pham; Tran-Nguyen-Vu Pham; Van-Thang Pham; Tan-Loc Nguyen
Indonesian Journal of Engineering and Science Vol. 4 No. 1 (2023): Table of Content
Publisher : Asosiasi Peneliti Sriwijaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.51630/ijes.v4i1.81

Abstract

Unicycle is a robot that imitates a performance of a circus artist on a one-wheeled self-balancing bicycle. This research assumes that this model is equivalent to two separated popular models: a two-wheeled self-balancing robot and reaction wheeled inverted pendulum. On each model, we build a PD controller. Thence, we present a structure of PD controllers to balance this model at the equilibrium point. We also build an experimental unicycle robot for the laboratory. Our method is proven to work well based on both simulation and experiment.
Co-Authors Ngoc-Bao Bui Tan-Loc Nguyen Thanh-Dong Pham Tran-Nguyen-Vu Pham Van Dong Hai Nguyen Van-Nghia Pham Van-Thang Pham