by Kwok-wai Au. / Thesis (M.Phil.)--Chinese University of Hong Kong, 1999. / Includes bibliographical references (leaves 55-58). / Abstracts in English and Chinese. / Abstract --- p.i / Acknowledgments --- p.iii / Contents --- p.iv / List of Figures --- p.vi / List of Tables --- p.viii / Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Motivation --- p.1 / Chapter 1.2 --- Previous work --- p.5 / Chapter 1.3 --- Thesis overview --- p.7 / Chapter 2 --- Dynamics of the Single Wheel Robot --- p.10 / Chapter 2.1 --- Dynamic model of a rolling disk --- p.10 / Chapter 2.1.1 --- Kinematic constraints --- p.11 / Chapter 2.1.2 --- Equations of motion --- p.13 / Chapter 2.1.3 --- Characteristics of the rolling disk --- p.15 / Chapter 2.2 --- Dynamic model of the single wheel robot --- p.18 / Chapter 2.2.1 --- Coordinate frames and generalized coordinates --- p.19 / Chapter 2.2.2 --- Equations of motion --- p.21 / Chapter 2.2.3 --- Model simplification --- p.24 / Chapter 2.3 --- Dynamic properties of the single wheel robot --- p.27 / Chapter 3 --- Stabilization of the Single Wheel Robot --- p.30 / Chapter 3.1 --- Linearized model --- p.30 / Chapter 3.2 --- Controllability and non-minimum phase characteristics --- p.33 / Chapter 3.3 --- Linear state feedback --- p.33 / Chapter 3.4 --- Simulation Study --- p.35 / Chapter 4 --- Path Following of the Single Wheel Robot --- p.37 / Chapter 4.1 --- Path following for nonholonomic systems --- p.37 / Chapter 4.2 --- Definition of path following --- p.39 / Chapter 4.3 --- New configuration --- p.39 / Chapter 4.4 --- Line following --- p.41 / Chapter 4.4.1 --- Velocity control law --- p.42 / Chapter 4.4.2 --- Convergence for the velocity control law --- p.43 / Chapter 4.4.3 --- Torque control law --- p.45 / Chapter 4.5 --- Simulation study --- p.47 / Chapter 4.5.1 --- Effect of the initial heading angle --- p.47 / Chapter 4.5.2 --- Effect of the rolling speed --- p.49 / Chapter 4.5.3 --- Follow a desired line --- p.50 / Chapter 4.5.4 --- Effect of the smoothness parameter --- p.50 / Chapter 5 --- Conclusion --- p.52 / Chapter 5.1 --- Contributions --- p.52 / Chapter 5.2 --- Future work --- p.53 / Bibliography --- p.55
| Identifer | oai:union.ndltd.org:cuhk.edu.hk/oai:cuhk-dr:cuhk_322777 |
| Date | January 1999 |
| Contributors | Au, Kwok Wai., Chinese University of Hong Kong Graduate School. Division of Mechanical and Automation Engineering. |
| Source Sets | The Chinese University of Hong Kong |
| Language | English, Chinese |
| Detected Language | English |
| Type | Text, bibliography |
| Format | print, viii, 58 leaves : ill. ; 30 cm. |
| Rights | Use of this resource is governed by the terms and conditions of the Creative Commons “Attribution-NonCommercial-NoDerivatives 4.0 International” License (http://creativecommons.org/licenses/by-nc-nd/4.0/) |
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