Stabilization of a unicycle using a Hamiltonian-based controller

The objective of this paper is to design a control system which supports an operator's dexterity. In order to design the control system, it is necessary to make a mathematical model of the dynamics of a unicycle and analyze it. This paper focuses on the modeling, analysis and control method. A control input is obtained by model matching. Two models are the actual model and the desired model. The actual model is derived by Lagrange's method, and the other is derived by the Hamiltonian method which stabilizes a unicycle. A numerical simulation is performed to evaluate the proposed control system.