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https://hdl.handle.net/2440/63347
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DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kadis, A. | - |
dc.contributor.author | Caldecott, D. | - |
dc.contributor.author | Edwards, A. | - |
dc.contributor.author | Jerbic, M. | - |
dc.contributor.author | Madigan, R. | - |
dc.contributor.author | Haynes, M. | - |
dc.contributor.author | Cazzolato, B. | - |
dc.contributor.author | Prime, Z. | - |
dc.date.issued | 2010 | - |
dc.identifier.citation | Proceedings of the 2010 Australasian Conference on Robotics & Automation (ACRA2010), held in Brisbane Australia, 1-3 December 2010 / G. Wyeth and B. Upcroft (eds.): pp.1-8 | - |
dc.identifier.isbn | 9780980740417 | - |
dc.identifier.uri | http://hdl.handle.net/2440/63347 | - |
dc.description.abstract | In this paper the outcomes from a one year honours project to design, build and control a self-balancing electric unicycle, known as the Micycle, are presented. The design of the system along with the associated mechanical and electrical components is presented. This is followed by a derivation of the system dynamics using the Lagrangian method which are simulated using Simulink. A linear control strategy to stabilize in the pitch direction is then proposed. Finally, a comparison between the control systems results from the Simulink simulations and experimental results from the physical system is presented. | - |
dc.description.statementofresponsibility | A. Kadis, D. Caldecott, A. Edwards, M. Jerbic, R. Madigan, M Haynes, B. Cazzolato and Z. Prime | - |
dc.language.iso | en | - |
dc.publisher | ARAA | - |
dc.rights | Copyright status unknown | - |
dc.source.uri | http://www.araa.asn.au/acra/acra2010/authors.html | - |
dc.title | Modelling, simulation and control of an electric unicycle | - |
dc.type | Conference paper | - |
dc.contributor.conference | ACRA 2010 | - |
dc.publisher.place | www | - |
pubs.publication-status | Published | - |
dc.identifier.orcid | Cazzolato, B. [0000-0003-2308-799X] | - |
Appears in Collections: | Aurora harvest 5 Environment Institute publications Mechanical Engineering publications |
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