Pitch Control of an Active Omni-wheeled Unicycle using LQR

摘要

Unicycle is a complex control system, it is unstable in both the pitch and roll directions. This paper presents a unique design for the unicycle using an active omni-wheel. This design makes the unicycle more versatile as it can easily move in any direction. The dynamic model of the unicycle in pitch direction is simplified to a moving-cart inverted pendulum model. Linear Quadratic Regulator (LQR) is used to control the pitch stability. Simulations and experimental results are presented to evaluate control performance of LQR.