相关论文: On the Control of Self-Balancing Unicycles

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 stability. The unicycle model is introduced as the simplest…

This article focuses on integrating path-planning and control with specializing on the unique needs of robotic unicycles. A unicycle design is presented which is capable of accelerating/breaking and carrying out a variety of maneuvers. The…

Today, electric scooter is a trendy personal mobility vehicle. The rising demand and opportunities attract ride-share services. A common problem of such services is abandoned e-scooters. An autonomous e-scooter capable of moving to the…

This paper considers the optimal control for hybrid systems whose trajectories transition between distinct subsystems when state-dependent constraints are satisfied. Though this class of systems is useful while modeling a variety of…

The study of controlled hybrid systems requires practical tools for approximation and comparison of system behaviors. Existing approaches to these problems impose undue restrictions on the system's continuous and discrete dynamics.…

This paper presents a methodology to stabilize some kind of Nonlinear Control system known as Driftless, utilizing the concept of \textit{Pseudo-Kinetic Energy} introduced in this work. Once this controller is applied to the Unicycle-type…

Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a…

The design (shape) of a robot is usually decided before the control is implemented. This might limit how well the design is adapted to a task, as the suitability of the design is given by how well the robot performs in the task, which…

The construction of feedback-like control fields for a kinetic model in phase space is investigated. The purpose of these controls is to drive an initial density of particles in the phase space to reach a desired cyclic trajectory and…

The global approach to control systems which we have been pursuing in other work favours the study of dynamics achievable through control. It employs certain globally defined geometric objects and attempts to describe them in the general…

Combining the advantages of standard bicycles and electrified vehicles, electric bikes (e-Bikes) are promising vehicles to reduce emission and traffic. The current literature on e-Bikes ranges from works on the energy management to the…

This paper introduces a framework to systematically optimize the control and design of an electric vehicle transmission, connecting powertrain sizing studies to detailed gearbox design methods. To this end, we first create analytical models…

This paper establishes a general framework for describing hybrid dynamical systems which is particularly suitable for numerical simulation. In this context, the data structures used to describe the sets and functions which comprise the…

Robotic research over the last decades have lead us to different architectures to automatically synthesise discrete event controllers and implement these motion and task plans in real-world robot scenarios. However, these architectures…

Balance control is important for human and bipedal robotic systems. While dynamic balance during locomotion has received considerable attention, quantitative understanding of static balance and falling remains limited. This work presents a…

We present a numerically tractable formulation for computing the optimal control of the class of hybrid dynamical systems whose trajectories are continuous. Our formulation, an extension of existing relaxed-control techniques for switched…

This paper presents a solution to the rendezvous control problem for a network of kinematic unicycles in the plane, each equipped with an onboard camera measuring its relative displacement with respect to its neighbors in body frame…

Given a control system on a manifold that is embedded in Euclidean space, it is sometimes convenient to use a single global coordinate system in the ambient Euclidean space for controller design rather than to use multiple local charts on…

A model helicopter is more difficult to control than its full scale counterparts. This is due to its greater sensitivity to control inputs and disturbances as well as higher bandwidth of dynamics. This works is focused on designing…

This paper proposes a novel extension of the Simplex architecture with model switching and model learning to achieve safe velocity regulation of self-driving vehicles in dynamic and unforeseen environments. To guarantee the reliability of…