A METHOD OF PD CONTROL FOR BALANCING A UNICYCLE ROBOT

Van Dong Hai Nguyen (Faculty of Electrical and Electronics Engineering, Ho Chi Minh city University of Technology (HCMUTE), Ho Chi Minh city, Vietnam)
Thanh-Dong Pham (Faculty of High Quality Training, Ho Chi Minh city University of Technology (HCMUTE), Ho Chi Minh city, Vietnam)
Manh-Tuan Tran (Faculty of High Quality Training, Ho Chi Minh city University of Technology (HCMUTE), Ho Chi Minh city, Vietnam)
Ngoc-Bao Bui (Faculty of High Quality Training, Ho Chi Minh city University of Technology (HCMUTE), Ho Chi Minh city, Vietnam)
Van-Nghia Pham (Faculty of High Quality Training, Ho Chi Minh city University of Technology (HCMUTE), Ho Chi Minh city, Vietnam)
Tran-Nguyen-Vu Pham (Faculty of High Quality Training, Ho Chi Minh city University of Technology (HCMUTE), Ho Chi Minh city, Vietnam)
Van-Thang Pham (Faculty of High Quality Training, Ho Chi Minh city University of Technology (HCMUTE), Ho Chi Minh city, Vietnam)
Tan-Loc Nguyen (Faculty of High Quality Training, Ho Chi Minh city University of Technology (HCMUTE), Ho Chi Minh city, Vietnam)

Indonesian Journal of Engineering and Science (IJES)
Vol. 4 No. 1 (2023): Table of Content

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.