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Investigation of Dynamics and Control of the Single-Wheel Vehicle

Sanh D., Dihn V. P., Do D. K., Tran D.

Machine Dynamics Problems

2007

Vol. 31, No. 4

46-56

In the presented paper, the problem of controlling a one-wheel vehicle is investigated. In connection with this problem, a hybrid method of both passive and active methods is applied. By means of the motion of an elliptic pendulum (passive controls) and the couple of forces of a servomotor (active controls) the unbalanced motion of the vehicle is controlled. The stated problem is solved by the theory of optimization of Hamilton and the method of constructing program constraints. A numerical algorithm is introduced, which is generalized for optimal problems of mechanical systems in the sense of stabilization.