Matlab_Simu4Unicycle

This respository provides a model for of a unicycle.

Environment

Please refer to the environment.yml file for the required Python environment. You can create this environment using conda with the following command(if you clone this repository):

conda env create -f Setup/environment.yml

Derivations

Segway

• For Segway Linear Model with PD control Details

• For Segway Nonlinear Model with PD control Details

• For Segway Nonlinear Model with Motor Damping, applied PD and PID control Details