Fuzzy sliding mode control of unicycle robot

Abstract

This paper proposes a single wheel balanced robot. In this paper, unicycle robot is implemented by the mobile inverted pendulum control method for pitch axis and the reaction wheel pendulum control method for roll axis. We assumed that both Roll dynamics and Pitch dynamics are decoupled. So, we obtained, respectively, the Roll dynamics and Pitch dynamics. And we designed the controller separately. Robot's angle data is obtained by a fusion of gyro sensor and accelerometer. Experiment results show the performance of the controller.