Balancing a Unicycle Robot on the Slope

🌐 Project Website | 📄 Download Report (PDF)

This project was completed for the “EE6602 Modern Control Theory” (Spring 2025) course at Columbia University.

In this project, I focused on stabilizing a unicycle robot on a non-flat surface (i.e., an inclined plane), which presents a more challenging problem than conventional flat-ground stabilization and is less explored in existing research.

The project includes:

• Dynamic model construction using the Euler-Lagrange method
• Linearization of the nonlinear system
• Linear simulations in MATLAB and nonlinear simulations in Simulink
• Linear controller design for the linearized model using:
  • Lyapunov equation-based output feedback control
  • H₂ optimal state feedback control
  • H∞ optimal state feedback control
  • H∞ optimal output feedback control
• Application of linear controllers to the nonlinear system
• Balancing the unicycle on an inclined plane with a time-varying slope
• A comprehensive technical report

All algorithms were developed in MATLAB and Simulink.