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The Posture Control of One-wheel Unicyle Robot Using Partial Feedback Linearization  

Kim, Jin-Seok (삼성전자 생산기술연구소)
Cho, Young-Jin (중앙대학교 기계공학과 메카트로닉스연구실)
Kim, Young-Tark (중앙대학교 기계공학과)
Publication Information
Journal of the Korean Society for Precision Engineering / v.24, no.4, 2007 , pp. 68-75 More about this Journal
Abstract
In this study, the ultimate goal is to acquire stability when turning around efficiently by using the controller which is applied partial feedback linearization of One-wheel Unicycle Robot. When moving around, linear controller could result in unstable factor according to widening operation range. So in order to reduce instability, 1 have developed Non-linear Controller using Partial Feedback Linearization. Compared with linear controller, Non-linear Controller guarantees the superiority of Regulating Control and Tracking Control in direct and also revolution motion of Robot. I'm sure of the Non-linear controller performance through many experiments.
Keywords
Partial Feedback Linearization; Posture Control; One-wheel Unicycle Robot;
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  • Reference
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