Attitude control of the unicycle robot using fuzzy-sliding mode control

Abstract

This paper proposes an attitude control of a single wheel balanced robot. The unicycle robot is controlled by two independent control laws: the mobile inverted pendulum control for pitch axis and the reaction wheel pendulum control for roll axis. It is assumed that both roll and pitch dynamics are decoupled. Therefore the roll and pitch dynamics are obtained independently considering the interaction as disturbances to each other. Each control law is implemented by a controller separately. The unicycle robot has two DC motors to rotate the disk for roll and to drive the wheel for pitch. Experimental results show the performance of the controller and verify the effectiveness of the proposed control algorithm. © Springer-Verlag Berlin Heidelberg 2012.