On the Control of Self-Balancing Unicycles
This paper discusses the problem of designing a self-balancing unicycle where pedals are used for both power generation and speed control. After developing the principal physical aspects (in the longitudinal dimension), we describe an abstract model in the form of a collection of hybrid automata, to...
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| Format: | Article |
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Open Publishing Association
2015-11-01
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| Series: | Electronic Proceedings in Theoretical Computer Science |
| Online Access: | http://arxiv.org/pdf/1511.04171v1 |
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doaj-5495fe4f40d84ff7bfe0a6695ee95f032020-11-24T23:39:36ZengOpen Publishing AssociationElectronic Proceedings in Theoretical Computer Science2075-21802015-11-01196Proc. MARS 2015253610.4204/EPTCS.196.3:4On the Control of Self-Balancing UnicyclesFelix Freiberger0Holger Hermanns1 Saarland University - Computer Science Saarland University - Computer Science This paper discusses the problem of designing a self-balancing unicycle where pedals are used for both power generation and speed control. After developing the principal physical aspects (in the longitudinal dimension), we describe an abstract model in the form of a collection of hybrid automata, together with design requirements to be met by an ideal controller. We discuss simplifications and assumptions that make this model amenable to verification and validation tools such as SpaceEx. To enable experimentation with different prototypical controllers and user behaviours in concrete scenarios, we also develop a simple simulation framework using digital time.http://arxiv.org/pdf/1511.04171v1 |
| collection |
DOAJ |
| language |
English |
| format |
Article |
| sources |
DOAJ |
| author |
Felix Freiberger Holger Hermanns |
| spellingShingle |
Felix Freiberger Holger Hermanns On the Control of Self-Balancing Unicycles Electronic Proceedings in Theoretical Computer Science |
| author_facet |
Felix Freiberger Holger Hermanns |
| author_sort |
Felix Freiberger |
| title |
On the Control of Self-Balancing Unicycles |
| title_short |
On the Control of Self-Balancing Unicycles |
| title_full |
On the Control of Self-Balancing Unicycles |
| title_fullStr |
On the Control of Self-Balancing Unicycles |
| title_full_unstemmed |
On the Control of Self-Balancing Unicycles |
| title_sort |
on the control of self-balancing unicycles |
| publisher |
Open Publishing Association |
| series |
Electronic Proceedings in Theoretical Computer Science |
| issn |
2075-2180 |
| publishDate |
2015-11-01 |
| description |
This paper discusses the problem of designing a self-balancing unicycle where pedals are used for both power generation and speed control. After developing the principal physical aspects (in the longitudinal dimension), we describe an abstract model in the form of a collection of hybrid automata, together with design requirements to be met by an ideal controller. We discuss simplifications and assumptions that make this model amenable to verification and validation tools such as SpaceEx. To enable experimentation with different prototypical controllers and user behaviours in concrete scenarios, we also develop a simple simulation framework using digital time. |
| url |
http://arxiv.org/pdf/1511.04171v1 |
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