Wei-Hsiu Hsu

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The goal of research is to develop an autonomous unicycle featuring with capabilities of autopilot and stabilization. The autonomous unicycle developed in this paper involves conceptualization, design, simulation, implementation and measurements. Longitudinal control, having coupling of wheel speed and platform pitch, is simulated by a straight-line motion.(More)
Analysis of attitude stabilization of a power-aided unicycle points out that a unicycle behaves like an inverted pendulum subject to power constraint. An LQR-mapped fuzzy controller is introduced to solve this nonlinear issue by mapping LQR control reversely through least square and Sugeno-type fuzzy inference. The fuzzy rule surface after mapping remains(More)
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