Unicycle robot

[ekstc]

what microcontroller was used for this project?

[fgg888]

Hi, could you tell me how to obtain the control law?

What signals are used for feedback?

Also, what sensors are used?

My private email: D9307205@mail.ntust.edu.tw

[suchakindman]

Hi~

Did you use gyro and accelerometer?

I've seen that many unicycle robot are equipped only with gyro.

And what control method did you use? LQR? or other?

thanks for response..

[y3s3k4]

@suchakindman

This robot has gyro and accelerometer.

And the state feedback control method is used.

Take a pitch direction for example,

state variables are pitch angle, pitch angular velocity, and wheel angular velocity.

thanks for comments!