Dynamic analysis and control of a tri-star wheel for climbing a stair

Abstract

Tri-star wheel is characterized by being able to climb a stair in addition to the stability during translation. In this paper, we analyze the dynamic behavior especially focusing on the force acting on the ground wheel when climbing a stair in order to design an optimal controller, which achieves stable climbing. Based on this analysis, we propose a method to determine the design parameters of the optimal controller together with SRL (symmetric root locus) method.