Dynamical Modeling of Unicycle Robot and Nonlinear Control

The nonlinear characteristics in the unicycle robot dynamic system make the robot control much more difficult. Aiming at this problem, the pitching angle, the rolling angle and the yawing angle were taken as system generalized coordinates. A kind of nonlinear dynamic model of the unicycle robot was proposed based on Lagrange method. A multi-input and multi-output affine nonlinear system was proposed to describe the dynamic model. And input-output exactitude linearization theory was applied to analyze the affine nonlinear system. Then a control algorithm was proposed to achieve the goal of decoupling and accurate linearization. Computer simulation verifies the validity of the dynamic model. The effect of the controller is testified by simulation experiments.