Journal of Control Science and Engineering / 2012 / Article / Tab 1

Research Article

Experimental Studies of Neural Network Control for One-Wheel Mobile Robot

Table 1

Parameter definition.

𝛼 , 𝛼 𝑓 Precession angle of a wheel and a flywheel
𝛽 Lean angle of a wheel
𝛽 𝑓 Tilt angle of a flywheel
𝛾 , 𝛾 𝑓 Spin angles of a wheel and a flywheel
πœƒ Angle between 𝑙 and π‘₯ 𝑏 axis
π‘š 𝑀 , π‘š 𝑓 Masses of a wheel and a flywheel
π‘š Mass of whole body
𝑅 Radius of a wheel
𝐼 π‘₯ 𝑀 , 𝐼 𝑦 𝑀 , 𝐼 𝑧 𝑀 Wheel moment of inertia about 𝑋 , π‘Œ , a n d 𝑍 axes
𝐼 π‘₯ 𝑓 , 𝐼 𝑦 𝑓 , 𝐼 𝑧 𝑓 Flywheel moment of inertia about 𝑋 , π‘Œ , a n d 𝑍
𝑔 Gravitational velocity
𝑒 1 , 𝑒 2 Drive torque and tilt torque
𝑙 Distance between A and B

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