학술저널
An Assistant System for Riding a Unicycle
An Assistant System for Riding a Unicycle
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The final purpose of this study is to design a control system to assist in the skill of riding a unicycle. To realize such a system, it is necessary to make a mathematical model and to analyze the dynamics of the unicycle. It is ideal that the dynamics of a unicycle is kept as original as possible even if any automatic support control is required to assist the operator. Thus, this paper presents modeling of the unicycle and a control system design by the controlled Lagrangian to realize this type of controller.
Abstract<BR>1. INTRODUCTION<BR>2. MODELING OF UNICYCLE<BR>3. CONTROL METHOD<BR>4. SIMULATION<BR>5. CONCLUSION<BR>ACKNOWLEDGEMENTS<BR>REFERENCES<BR>
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