Journal of Control Science and Engineering

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
𝜃 Angle between 𝑙 and 𝑥 𝑏 axis
𝑚 𝑤 , 𝑚 𝑓 Masses of a wheel and a flywheel
𝑚 Mass of whole body
𝑅 Radius of a wheel
𝐼 𝑥 𝑤 , 𝐼 𝑦 𝑤 , 𝐼 𝑧 𝑤 Wheel moment of inertia about 𝑋 , 𝑌 , a n d 𝑍 axes
𝐼 𝑥 𝑓 , 𝐼 𝑦 𝑓 , 𝐼 𝑧 𝑓 Flywheel moment of inertia about 𝑋 , 𝑌 , a n d 𝑍
𝑔 Gravitational velocity
𝑢 1 , 𝑢 2 Drive torque and tilt torque
𝑙 Distance between A and B