Study on the stability and motion control of a unicycle: (4th report, fuzzy gain schedule PD controller for managing nonlinearity of system)

JSME International Journal, Series C: Dynamics, Control, Robotics, Design and Manufacturing

Volumn 39, Issue 3, 1996, Pages 569-576

  Sheng, Zaiquan ^a   Yamafuji, Kazuo ^a   Ulyanov, Sergei V ^a  

^a UNIVERSITY OF ELECTRO COMMUNICATIONS   (Japan)

Author keywords

Fuzzy Gain Schedule PD Controller; Nonlinear System; Postural Stability Control; Reasoning; Tuning by Fuzzy Rules; Unicycle

Indexed keywords

CONTROL NONLINEARITIES; CONTROLLABILITY; EQUATIONS OF MOTION; FEEDBACK CONTROL; FUZZY CONTROL; FUZZY SETS; GAIN CONTROL; MATHEMATICAL MODELS; MOTION CONTROL; SYSTEM STABILITY; TWO TERM CONTROL SYSTEMS;

FUZZY GAIN SCHEDULE; POSTURAL STABILITY; UNICYCLE ROBOT;

MOBILE ROBOTS;

EID: 0030231422     PISSN: 13408062     EISSN: None     Source Type: Journal    
DOI: 10.1299/jsmec1993.39.569     Document Type: Article

References (4)

1. Sheng, Z. and Yamafuji, K., Study on the Stability and Motion Control of a Unicycle (1st Report: Dynamics of a human riding a unicycle and its modeling by link mechanism), JSME Int. J., Ser. C, Vol. 38 No. 2 (1995), p. 249.
2. Sheng, Z. and Yamafuji, K., Study on the Stability and Motion Control of a Unicycle (2nd Report: Design of unicycle robot and experimental results) (in Japanese), Trans. Jpn. Soc. Mech. Eng., Vol. 61, No. 583, C (1995), p. 1042.
3. Sheng, Z., Yamafuji, K. and Ulyanov, S. V., Study on the Stability and Motion Control of a Unicycle (3rd Report, Characteristics of Unicycle Robot) JSME Int. J. Ser. C, Vol. 39, No. 3, C (1996), p. 560.
4. Sheng, Z., Yamafuji, K. and Ulyanov, S. V., Study on the Stability and Motion Control of a Unicycle (5th Report, Experiment Results by Fuzzy Gain Schedule PD Controller) (to be printed in Journal of Robotics and Mechatronics) (1996).