Steering Control Method for an Underactuated Unicycle Robot Based on Dynamic Model
This paper proposes a lateral balancing structure based on precession effect of double-gyroscopes and its associated control strategy of the steering for an underactuated unicycle robot. Double-gyroscopes are symmetrically designed on the top of the unicycle robot and utilized to adjust the lateral...
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| Veröffentlicht in: | Mathematical problems in engineering 2018-01, Vol.2018 (2018), p.1-13 |
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| creator | Zhao, Jie Liu, Yubin Liu, Zhangxing Zhang, Hui Zhang, Yang Jin, Hongzhe Zhu, Yanhe |
| description | This paper proposes a lateral balancing structure based on precession effect of double-gyroscopes and its associated control strategy of the steering for an underactuated unicycle robot. Double-gyroscopes are symmetrically designed on the top of the unicycle robot and utilized to adjust the lateral balance of system. Such design can inhibit the disturbance of the gyroscope system to the pitch angle and is beneficial to maintain the lateral balance in the case of large roll angle fluctuations. Based on the analysis of the dynamics model, the gyroscope precession effects will be caused by the angular velocity of the bottom wheel and the roll angular velocity, i.e., resulting in a torque in the direction of the yaw. Then, a rapid response control strategy is proposed to use the torque to control the steering. Simulation results demonstrate the rationality of the lateral balance structure and the feasibility of the steering control method. |
| doi_str_mv | 10.1155/2018/5240594 |
| format | Article |
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Double-gyroscopes are symmetrically designed on the top of the unicycle robot and utilized to adjust the lateral balance of system. Such design can inhibit the disturbance of the gyroscope system to the pitch angle and is beneficial to maintain the lateral balance in the case of large roll angle fluctuations. Based on the analysis of the dynamics model, the gyroscope precession effects will be caused by the angular velocity of the bottom wheel and the roll angular velocity, i.e., resulting in a torque in the direction of the yaw. Then, a rapid response control strategy is proposed to use the torque to control the steering. Simulation results demonstrate the rationality of the lateral balance structure and the feasibility of the steering control method.</description><identifier>ISSN: 1024-123X</identifier><identifier>EISSN: 1563-5147</identifier><identifier>DOI: 10.1155/2018/5240594</identifier><language>eng</language><publisher>Cairo, Egypt: Hindawi Publishing Corporation</publisher><subject>Angular velocity ; Automation ; Computer simulation ; Dynamic models ; Gyroscopes ; International conferences ; Methods ; Neural networks ; Pitch (inclination) ; Precession ; Robotics ; Robots ; Rolling motion ; Simulation ; Steering ; Torque ; Variation ; Velocity ; Yaw</subject><ispartof>Mathematical problems in engineering, 2018-01, Vol.2018 (2018), p.1-13</ispartof><rights>Copyright © 2018 Hongzhe Jin et al.</rights><rights>Copyright © 2018 Hongzhe Jin et al. This is an open access article distributed under the Creative Commons Attribution License (the “License”), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License. https://creativecommons.org/licenses/by/4.0</rights><lds50>peer_reviewed</lds50><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c360t-86fd5b74a69c96fbb66ec0498887e0e38e3af1f4f9e0ec80fea0b8ac7d1d62ff3</citedby><cites>FETCH-LOGICAL-c360t-86fd5b74a69c96fbb66ec0498887e0e38e3af1f4f9e0ec80fea0b8ac7d1d62ff3</cites><orcidid>0000-0002-7469-6907 ; 0000-0002-7908-853X ; 0000-0002-6086-9387 ; 0000-0002-1960-6278</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><link.rule.ids>314,776,780,27901,27902</link.rule.ids></links><search><contributor>Rus, Guillermo</contributor><creatorcontrib>Zhao, Jie</creatorcontrib><creatorcontrib>Liu, Yubin</creatorcontrib><creatorcontrib>Liu, Zhangxing</creatorcontrib><creatorcontrib>Zhang, Hui</creatorcontrib><creatorcontrib>Zhang, Yang</creatorcontrib><creatorcontrib>Jin, Hongzhe</creatorcontrib><creatorcontrib>Zhu, Yanhe</creatorcontrib><title>Steering Control Method for an Underactuated Unicycle Robot Based on Dynamic Model</title><title>Mathematical problems in engineering</title><description>This paper proposes a lateral balancing structure based on precession effect of double-gyroscopes and its associated control strategy of the steering for an underactuated unicycle robot. Double-gyroscopes are symmetrically designed on the top of the unicycle robot and utilized to adjust the lateral balance of system. Such design can inhibit the disturbance of the gyroscope system to the pitch angle and is beneficial to maintain the lateral balance in the case of large roll angle fluctuations. Based on the analysis of the dynamics model, the gyroscope precession effects will be caused by the angular velocity of the bottom wheel and the roll angular velocity, i.e., resulting in a torque in the direction of the yaw. Then, a rapid response control strategy is proposed to use the torque to control the steering. Simulation results demonstrate the rationality of the lateral balance structure and the feasibility of the steering control method.</description><subject>Angular velocity</subject><subject>Automation</subject><subject>Computer simulation</subject><subject>Dynamic models</subject><subject>Gyroscopes</subject><subject>International conferences</subject><subject>Methods</subject><subject>Neural networks</subject><subject>Pitch (inclination)</subject><subject>Precession</subject><subject>Robotics</subject><subject>Robots</subject><subject>Rolling motion</subject><subject>Simulation</subject><subject>Steering</subject><subject>Torque</subject><subject>Variation</subject><subject>Velocity</subject><subject>Yaw</subject><issn>1024-123X</issn><issn>1563-5147</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2018</creationdate><recordtype>article</recordtype><sourceid>RHX</sourceid><sourceid>BENPR</sourceid><recordid>eNqF0EtLAzEQB_BFFKzVm2cJeNS1eW_2qPUJLUK14G3JJhO7pd3UbIr02xvZgkdP8-DHDPyz7JzgG0KEGFFM1EhQjkXJD7IBEZLlgvDiMPWY8pxQ9nGcnXTdEmNKBFGDbPYWAULTfqKxb2PwKzSFuPAWOR-QbtG8tRC0iVsdwaapMTuzAjTztY_oTndp6Vt0v2v1ujFo6i2sTrMjp1cdnO3rMJs_PryPn_PJ69PL-HaSGyZxzJV0VtQF17I0pXR1LSUYzEulVAEYmAKmHXHclWkyCjvQuFbaFJZYSZ1jw-yyv7sJ_msLXayWfhva9LKihGPFOWM8qetemeC7LoCrNqFZ67CrCK5-U6t-U6v2qSV-1fNF01r93fynL3oNyYDTf5riQhWE_QCHOnY8</recordid><startdate>20180101</startdate><enddate>20180101</enddate><creator>Zhao, Jie</creator><creator>Liu, Yubin</creator><creator>Liu, Zhangxing</creator><creator>Zhang, Hui</creator><creator>Zhang, Yang</creator><creator>Jin, Hongzhe</creator><creator>Zhu, Yanhe</creator><general>Hindawi Publishing Corporation</general><general>Hindawi</general><general>Hindawi Limited</general><scope>ADJCN</scope><scope>AHFXO</scope><scope>RHU</scope><scope>RHW</scope><scope>RHX</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7TB</scope><scope>8FD</scope><scope>8FE</scope><scope>8FG</scope><scope>ABJCF</scope><scope>ABUWG</scope><scope>AFKRA</scope><scope>ARAPS</scope><scope>AZQEC</scope><scope>BENPR</scope><scope>BGLVJ</scope><scope>CCPQU</scope><scope>CWDGH</scope><scope>DWQXO</scope><scope>FR3</scope><scope>GNUQQ</scope><scope>HCIFZ</scope><scope>JQ2</scope><scope>K7-</scope><scope>KR7</scope><scope>L6V</scope><scope>M7S</scope><scope>P5Z</scope><scope>P62</scope><scope>PIMPY</scope><scope>PQEST</scope><scope>PQQKQ</scope><scope>PQUKI</scope><scope>PRINS</scope><scope>PTHSS</scope><orcidid>https://orcid.org/0000-0002-7469-6907</orcidid><orcidid>https://orcid.org/0000-0002-7908-853X</orcidid><orcidid>https://orcid.org/0000-0002-6086-9387</orcidid><orcidid>https://orcid.org/0000-0002-1960-6278</orcidid></search><sort><creationdate>20180101</creationdate><title>Steering Control Method for an Underactuated Unicycle Robot Based on Dynamic Model</title><author>Zhao, Jie ; 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Double-gyroscopes are symmetrically designed on the top of the unicycle robot and utilized to adjust the lateral balance of system. Such design can inhibit the disturbance of the gyroscope system to the pitch angle and is beneficial to maintain the lateral balance in the case of large roll angle fluctuations. Based on the analysis of the dynamics model, the gyroscope precession effects will be caused by the angular velocity of the bottom wheel and the roll angular velocity, i.e., resulting in a torque in the direction of the yaw. Then, a rapid response control strategy is proposed to use the torque to control the steering. 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| subjects | Angular velocity Automation Computer simulation Dynamic models Gyroscopes International conferences Methods Neural networks Pitch (inclination) Precession Robotics Robots Rolling motion Simulation Steering Torque Variation Velocity Yaw |
| title | Steering Control Method for an Underactuated Unicycle Robot Based on Dynamic Model |
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