Please use this identifier to cite or link to this item:
https://hdl.handle.net/2440/63347
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 Responsibility: | 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 |
Published version: | http://www.araa.asn.au/acra/acra2010/authors.html |
Appears in Collections: | Aurora harvest 5 Environment Institute publications Mechanical Engineering publications |
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