A Survey of Linear Control for Unicycle Robot

Abstract

Mobile robots are a subject that researchers have been developing a lot. Most of the research mainly on two-wheeled balanced robots use PID, LQR controllers, …. Currently, products such as bicycle unicycles, one wheel scooter are becoming more and more popular in many countries. In this article, our research group covers the construction of kinematic and dynamic mathematical equations, design of PID and LQR controllers using MATLAB/ Simulink.

Keywords

• unicycles robot
• lqr controller
• pid controller
• dynamic
• kinematic