Dynamics Analysis and Robust Control for Electric Unicycles Under Constrained Control Force

摘要

This paper investigates the dynamics analysis and robust control law design for the proposed schematic design of electric unicycles. The schematic design of the proposed unicycle possesses a supportive seat for the rider and is also equipped with a handling rod for maneuvering, similar to a Segway device. First, this paper conducts an analysis and comparison of the dynamics properties and derivation of the nonlinear governing equation for the unicycle. Next, it emphasizes the development of an input-constrained robust controller design for the proposed configuration of the electric unicycle. The issues investigated in this paper include the dynamics property analysis and comparison, nonlinear dynamics derivation, robust control diagram formulation, controller synthesis regarding linear matrix inequalities (LMIs), and time response simulations and discussions. In this control law design via LMIs, the desired performances of: (1) relative stability or decay rate for command tracking capability; (2) disturbance attenuation for robustness against uncertainty parameters; and (3) an accommodation of control effort constraints under the regulation or command tracking of certain initial state condition are investigated and demonstrated using time response simulations of the controlled unicycle dynamics.