This paper proposes a decoupled control algorithm for a single-wheel (unicycle) balanced
robot. A unicycle robot is controlled by two independent control laws: the method involving …

This paper presents a doublegyroscope unicycle robot, which is dynamically balanced by
sliding mode controller and PD controller based on its dynamics. This double− gyroscope …

This paper presents the simulation and calculation-based aspect of constructing a
dynamically stable, self-balancing electric monowheel from first principles. It further goes on …

This paper presents a unicycle robot which utilizes the precession effect of a double-
gyroscope for lateral balancing and designs an adaptive fuzzy controller to realize the …

The Inverted pendulum platform is an example of classic unstable control system. Even
though the system has been fairly tested and documented, it still draws attention of many …

This paper presents the design, implementation, and validation of balance control and point-
to-point motion control of a single-wheeled (unicycle) robot. The robot consists of a wheel, a …

Unlike two-wheeled balancing robots, which are mechanically stable in one direction,
unicycle robots use only one bottom wheel to maintain pitching balance, leaving the robot …

This paper presents the design and implementation of balance control for a unicycle robot.
The robot consists of a wheel, a body frame, and a reaction wheel. The wheel enables the …

The steering control of an autonomous unicycle is considered. The underlying dynamical
model of a single rolling wheel is discussed regarding the steady state motions and their …

In this thesis, an intelligent controller for gun and/or sight stabilization of turret subsystems is
developed using artificial neural networks. A classical proportional, integral and derivative …