A Method of LQR Using Velocity Control for Unicycle Robot Article Swipe
Thi-Ai-Van Nguyen
,
Dinh-Hau Vu
,
Hung T. Nguyen
,
Nguyen Cuong Pham
,
Kun Cao
,
Võ Thanh Hà
,
Hai Xuan Le
,
Minh-Tam Nguyen
·
YOU?
·
· 2024
· Open Access
·
· DOI: https://doi.org/10.24193/rm.2024.2.3
YOU?
·
· 2024
· Open Access
·
· DOI: https://doi.org/10.24193/rm.2024.2.3
This study explores the use of Linear Quadratic Regulator (LQR) control to stabilize a unicycle robot, a key example within the unicycle-type mobile robot category. Despite its inherent instability, the unicycle robot offers notable advantages over multi-wheeled, statically stable designs, including reduced spatial requirements due to its single ground contact point. The system is modeled using two axes: the roll axis, represented as an inverted pendulum managed by the wheel, and the pitch axis, modeled as a reaction wheel inverted pendulum controlled by a reaction disk. LQR is recognized as an effective approach for controller design in nonlinear systems. This research focuses on designing, implementing, and evaluating LQR controllers with varying weighting matrices to analyze their influence on system performance. Comparative case studies are conducted by altering the weighting matrices and benchmarking the results against the initial configuration. Experimental outcomes highlight the potential of LQR control for achieving robust stabilization of unicycle robots.
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Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.24193/rm.2024.2.3
- OA Status
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- References
- 7
- Related Works
- 10
- OpenAlex ID
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All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4408462160Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.24193/rm.2024.2.3Digital Object Identifier
- Title
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A Method of LQR Using Velocity Control for Unicycle RobotWork title
- Type
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articleOpenAlex work type
- Language
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enPrimary language
- Publication year
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2024Year of publication
- Publication date
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2024-01-01Full publication date if available
- Authors
-
Thi-Ai-Van Nguyen, Dinh-Hau Vu, Hung T. Nguyen, Nguyen Cuong Pham, Kun Cao, Võ Thanh Hà, Hai Xuan Le, Minh-Tam NguyenList of authors in order
- Landing page
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https://doi.org/10.24193/rm.2024.2.3Publisher landing page
- Open access
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YesWhether a free full text is available
- OA status
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diamondOpen access status per OpenAlex
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https://doi.org/10.24193/rm.2024.2.3Direct OA link when available
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Control theory (sociology), Computer science, Control (management), Robot, Artificial intelligenceTop concepts (fields/topics) attached by OpenAlex
- Cited by
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0Total citation count in OpenAlex
- References (count)
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7Number of works referenced by this work
- Related works (count)
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10Other works algorithmically related by OpenAlex
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