Modeling, construction and control of a Self-balancing unicycle

• Grant number: 16/00729-9
• Support Opportunities: Scholarships in Brazil - Master
• Start date: May 01, 2016
• End date: August 31, 2017
• Field of knowledge: Engineering - Electrical Engineering - Industrial Electronics, Electronic Systems and Controls
• Principal Investigator: Bruno Augusto Angélico
• Grantee: Gabriel Pereira das Neves
• Host Institution: Escola Politécnica (EP). Universidade de São Paulo (USP). São Paulo , SP, Brazil

Abstract

This project proposes the construction, modeling and control of a self-balancing unicycle vehicle. The system is going to be totally autonomous and will be used to study different techniques of advanced control. Mathematical modeling will be made based on the Lagrange mechanics. It will also be considered the study of roll and pitch angles sensing. In addition, the control algorithms will be embedded in a microcontroller platform presented in the prototype. (AU)

Scientific publications

(References retrieved automatically from Web of Science and SciELO through information on FAPESP grants and their corresponding numbers as mentioned in the publications by the authors)

NEVES, GABRIEL P.; ANGELICO, BRUNO A.; AGULHARI, CRISTIANO M.. Robust H-2 controller with parametric uncertainties applied to a reaction wheel unicycle. International Journal of Control, v. 93, n. 10, p. 2431-2441, OCT 2 2020. (16/00729-9, 17/22130-4)

NEVES, GABRIEL P.; ANGELICO, BRUNO A.; IEEE. A discrete LQR applied to a self-balancing reaction wheel unicycle: Modeling, construction and control. 2021 AMERICAN CONTROL CONFERENCE (ACC), v. N/A, p. 6-pg., 2021-01-01. (17/22130-4, 16/00729-9)

Academic Publications

(References retrieved automatically from State of São Paulo Research Institutions)

NEVES, Gabriel Pereira das. Modeling, construction and control of a self-balancing unicycle.. 2017. Master's Dissertation - Universidade de São Paulo (USP). Escola Politécnica (EP/BC) São Paulo.