Acceleration Feedback Controller Processor Design of a Segway

摘要

Traffic congestions and carbon emissions are a few contributing factors to various problems in large cities across the globe. This paper provides the Single Purpose Processor (SPP) design for a nonholonomic segway robot's acceleration feedback control laws. The acceleration control rules are de-rived from the total potentials generated by the Lyapunov-based Control Scheme (LbCS), which were validated using Wolfram Mathematica simulation software. Due to the robot autonomously, the riders can have a safe ride while reaching their destination. Furthermore, the design could be implemented for rapid prototyping in hardware such as a VLSI chip, an ASIC chip, or an FPGA board. Hence, the segway robot could be used as a personal transport that could be ridden on narrow paths such as pavements while consuming less energy when compared to larger vehicles and help reduce carbon emissions; thus, the segway robot could be seen as an essential personal transport to contribute towards smart city goals.