Lateral stabilization of a single wheel robot applying electromagnetic force

Abstract

The lateral stabilization of single wheel robot is a challenge for researchers. We proposed a new mechanism to solve the problem by applying electromagnetic force. The mechanism was described briefly, and after dynamic analyses of the robot, its state space equation was obtained. The prototype was built in ADAMS, and integrated with MATLAB a PID controller and a LQR controller were performed respectively. A simple physical experiment was carried out on inverted pendulum applying Lorentz force. Simulation and physical experiment results show that the proposed mechanism is feasible and more energy efficient.