Balancing control of a unicycle | |
| Author | Surachat Chantarachit |
| Call Number | AIT Thesis no.ISE-11-08 |
| Subject(s) | Unicycles Robots--Control systems |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-11-08 |
| Abstract | The challenge in the unicycle robot is to control the robot which can balance in roll and pitch direction. There are many techniques to balance the unicycle robot. In this thesis, the disk driver technique is applied in order to generate some torque for balancing in lateral direction and the inverse pendulum technique is applied to balancing in the longitudinal direction. there are many section in this thesis such as the fusion sensor, the mathematic model and the control algorithm. This thesis concerns about the control algorithm to control the robot. The PID and LQR controller is applied to the simulation model and the real plant in order to observe the response of the robot. In this thesis, the simulation and experiment result are presented and discussion. The simulation result uses the Simulink in the Matlab program to simulate. |
| Year | 2011 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-11-08 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun |
| Examination Committee(s) | Mongkol Ekpanyapong;Bohez, Erik L.J. |
| Scholarship Donor(s) | Thailand (HM King) |
| Degree | Thesis (M. Eng.) - Asian Institute of Technology, 2011 |