Control of a Pedaled, Self-balanced Unicycle with Adaptation Capability

Chun-Feng Huang, T.-J. Yeh

Abstract

In this paper, a pedaled, self-balanced, personal mobility vehicle is developed. The vehicle is structurally similar to a pedaled unicycle but uses a brushless DC (BLDC) hub motor as its main driving wheel. In order to reduce the interference and provide a better human-machine interaction, a novel balancing controller with adaptation capability is proposed. This balancing controller, when working together with a specially designed low-level BLDC driver, can adapt to the uncertain center of gravity of the vehicle frame plus the rider, and the amount of motor torque that fights against the pedaling torque can be reduced to minimum. The performance of the control system is validated by simulations.

References

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Paper Citation


in Harvard Style

Huang C. and Yeh T. (2014). Control of a Pedaled, Self-balanced Unicycle with Adaptation Capability . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-040-6, pages 120-126. DOI: 10.5220/0005057801200126


in Bibtex Style

@conference{icinco14,
author={Chun-Feng Huang and T.-J. Yeh},
title={Control of a Pedaled, Self-balanced Unicycle with Adaptation Capability},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2014},
pages={120-126},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005057801200126},
isbn={978-989-758-040-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Control of a Pedaled, Self-balanced Unicycle with Adaptation Capability
SN - 978-989-758-040-6
AU - Huang C.
AU - Yeh T.
PY - 2014
SP - 120
EP - 126
DO - 10.5220/0005057801200126