Modeling and control of the rodwheel
CoRR(2024)
摘要
The rodwheel is a wheel equipped with a rod motorized on the axle. This paper
proposes a Lagrangian approach to find the state equations of the rodwheel
rolling on a plane without friction. The approach takes advantage of a symbolic
computation. A controller is proposed to stabilize the rodwheel with the rod
upward and going straight at a desired speed.
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