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Type: Conference paper
Title: Modelling, simulation and control of an electric unicycle
Author: Kadis, A.
Caldecott, D.
Edwards, A.
Jerbic, M.
Madigan, R.
Haynes, M.
Cazzolato, B.
Prime, Z.
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
Publisher: ARAA
Publisher Place: www
Issue Date: 2010
ISBN: 9780980740417
Conference Name: ACRA 2010
Statement of
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
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Appears in Collections:Aurora harvest 5
Environment Institute publications
Mechanical Engineering publications

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