Control of electric unicycles

Abdul Wahid A. Saif; Mohamed Hassan

doi:10.1109/SSD.2017.8166926

Control of electric unicycles

Abdul Wahid A. Saif^*
, Mohamed Hassan

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

In this paper, several controllers were proposed and developed to control and maintain the balance of electric unicycle. The proposed controllers are Linear Quadratic Regulator (LQR), Linear Quadratic Regulator with Integral action (LQRI) and Feedback Linearization controller (FBL). Then a comparison is held based on disturbance rejection and tracking ability for desired unicycle speed. The performance and merit of FBL are well exemplified by conducting several simulations in Matlab/Simulink environment.

Original language	English
Title of host publication	2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	699-704
Number of pages	6
ISBN (Electronic)	9781538631751
DOIs	https://doi.org/10.1109/SSD.2017.8166926
State	Published - 4 Dec 2017

Publication series

Name	2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017
Volume	2017-January

Bibliographical note

Publisher Copyright:
© 2017 IEEE.

Keywords

LQR
electric unicycle
feedback linerization

ASJC Scopus subject areas

Computer Science Applications
Signal Processing
Control and Optimization
Instrumentation

Access to Document

10.1109/SSD.2017.8166926

Cite this

Saif, A. W. A., & Hassan, M. (2017). Control of electric unicycles. In 2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017 (pp. 699-704). (2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017; Vol. 2017-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SSD.2017.8166926

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Control of electric unicycles. / Saif, Abdul Wahid A.; Hassan, Mohamed.
2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 699-704 (2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017; Vol. 2017-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Hassan, Mohamed

PY - 2017/12/4

Y1 - 2017/12/4

N2 - In this paper, several controllers were proposed and developed to control and maintain the balance of electric unicycle. The proposed controllers are Linear Quadratic Regulator (LQR), Linear Quadratic Regulator with Integral action (LQRI) and Feedback Linearization controller (FBL). Then a comparison is held based on disturbance rejection and tracking ability for desired unicycle speed. The performance and merit of FBL are well exemplified by conducting several simulations in Matlab/Simulink environment.

AB - In this paper, several controllers were proposed and developed to control and maintain the balance of electric unicycle. The proposed controllers are Linear Quadratic Regulator (LQR), Linear Quadratic Regulator with Integral action (LQRI) and Feedback Linearization controller (FBL). Then a comparison is held based on disturbance rejection and tracking ability for desired unicycle speed. The performance and merit of FBL are well exemplified by conducting several simulations in Matlab/Simulink environment.

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KW - feedback linerization

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DO - 10.1109/SSD.2017.8166926

M3 - Conference contribution

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T3 - 2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017

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BT - 2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017

PB - Institute of Electrical and Electronics Engineers Inc.

ER -

Control of electric unicycles

Abstract

Publication series

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this