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Adaptive steering control of an electric unicycle

This paper presents techniques for adaptive steering control of an electric unicycle with a steering turning mechanism, in order to achieve self-balancing and speed tracking simultaneously. A state feedback control method using the linear quadratic regulator approach is first presented to simultaneously achieve self-balancing and speed tracking, and then an adaptive friction compensating term is proposed to overcome frictions caused by different terrain surfaces. The performance and merit of the proposed control method are well exemplified by conducting two simulations and five experiments on a laboratory-built electric unicycle.