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|Title:||Modelling, simulation and control of an electric unicycle|
|Citation:||Proceedings of the 2010 Australasian Conference on Robotics & Automation (ACRA2010), held in Brisbane Australia, 1-3 December 2010 / G. Wyeth and B. Upcroft (eds.): pp.1-8|
|Conference Name:||ACRA 2010|
|A. Kadis, D. Caldecott, A. Edwards, M. Jerbic, R. Madigan, M Haynes, B. Cazzolato and Z. Prime|
|Abstract:||In this paper the outcomes from a one year honours project to design, build and control a self-balancing electric unicycle, known as the Micycle, are presented. The design of the system along with the associated mechanical and electrical components is presented. This is followed by a derivation of the system dynamics using the Lagrangian method which are simulated using Simulink. A linear control strategy to stabilize in the pitch direction is then proposed. Finally, a comparison between the control systems results from the Simulink simulations and experimental results from the physical system is presented.|
|Rights:||Copyright status unknown|
|Appears in Collections:||Mechanical Engineering publications|
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