Proceedings of the Japan Joint Automatic Control Conference
48th Proceedings of the Japan Joint Automatic Control Conference
Session ID : D2-21
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Host: The Society of Instrument and Control Engineers, The Institute of Systems, Control and Information Engineers, The Japan Society of Mechanical Engineers, The Society of Chemical Engineers, Japan, The Japan Society for Precision Engineering, The Japan Society for Aeronautical and Space Sciences

Co-host: Technically Cosponsored by 43 Socies and Institutes

Application of Controlled Lagrangian to Control of Uniycle
YUICHI KANAI, *MASAMI IWASE, SHOSHIRO HATAKEYAMA
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Keywords: Controlled Lagrangian, Inverted Pendulum, Stabilization Control
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Abstract
The final objective of this study is to realize an assist system for a human, especially a beginner, riding on an unicycle. At the fisrt step, this paper presents the modeling and stabilization control of the unicycle. The effectiveness of the proposed control system is evaluated by simulations.
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© 2005 JACC Organizing Committee
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