Motion planning and feedback control of a planar robotic unicycle model

Open and closed loop control design for the planar motion of a unicycle model consisting of a double pendulum mounted on a rolling wheel is considered. The motion planning problem is solved by prescribing trajectories to the two pendulum angles, the wheel angle is then obtained by integrating twice. A feedforward control trajectory directly follows from this parametrization.A feedback stabilizing the planned motion is designed after linearization of the relevant subsystem about the planned trajectories. Simulation results show the usefulness of the result.