Work

Steering Control of an Autonomous Unicycle

Year: 2025

Type: article

Abstract: 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 possible extension of the rolling wheel, where the location of the center of gravity is controlled. With the help of the Appellian approach, a state-space representation of the controlled nonholonomic system is built in a way that the most compact nonlinear equations of motion are constructed. Based on controllability analysis, feedback controllers are designed that successfully carry out lane changing and turning maneuvers. The behavior of the closed-loop system is demonstrated by numerical simulations.

Source: IEEE Transactions on Control Systems Technology

DOI: 10.1109/tcst.2025.3587096

Authors: Máté B. Vizi, Gábor Orosz, Dénes Takács, Gábor Stépán

Institutions: University of Michigan, Budapest University of Technology and Economics

Language: English

Topic: Control and Dynamics of Mobile Robots

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

Funders: National Science Foundation, Magyar Tudományos Akadémia, Nemzeti Kutatási Fejlesztési és Innovációs Hivatal, Nemzeti Kutatási, Fejlesztési és Innovaciós Alap