Modeling and control of the rodwheel
arXiv:2401.08666
Abstract
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.
12 pages, 6 figures. arXiv admin note: text overlap with arXiv:2311.16624