| Abstract |
Study of this article is focused on the pitch control of a power-aided unicycle by using fuzzy logic controller (FLC). Longitudinal acceleration and pitch rate of seat or platform of the unicycle, measured by IMU (Inertial measurement unit), are regarded as inputs of FLC that is implemented by DSP. Output of FLC then drives pitch motor mechanism to achieve pitch stabilization. Since the power-aided unicycle behaves as if it were an inverted pendulum, a FLC, with membership partitions acquired by method of direct search, is thus employed. Plant parameters of the unicycle are identified by incorporating measured data into the simulation. Comparison between results of simulation and experiment proves this approach has good benefit on dealing with dead zone, saturation and multi-gradient control surface in a nonlinear system. |
