Balancing Control of Unicycle Robot

  • In-Woo Han
  • Jae-Won An
  • Jang-Myung Lee
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 193)


This paper proposes controlling balance of unicycle robot by using PID control. The robot consists of the Pitch and Roll. And the robot measures the Pitch and Roll angle which are obtained from IMU sensor. In this paper, Assuming that the Pitch and Roll is decoupled, design the controller separately. Because controller’s performance is confirmed from simulation, the dynamic equations of the robot are derived for simulation. Finally, designed controller is applied to have a test of the unicycle robot.


PIDcontrol Unicycle robot dynamics balancing 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  1. 1.Department of Electrical EngineeringPusan National UniversityPusanRepublic of Korea

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