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Gyroscopically Stabilized Robot: Balance and Tracking

Authors :
Yongsheng Ou
Yangsheng Xu
Source :
International Journal of Advanced Robotic Systems, Vol 1, Iss 1, Pp 23-32 (2008)
Publication Year :
2008
Publisher :
SAGE Publishing, 2008.

Abstract

The single wheel, gyroscopically stabilized robot - Gyrover, is a dynamically stable but statically unstable, underactuated system. In this paper, based on the dynamic model of the robot, we investigate two classes of nonholonomic constraints associated with the system. Then, based on the backstepping technology, we propose a control law for balance control of Gyrover. Next, through transferring the systems states from Cartesian coordinate to polar coordinate, control laws for point-to-point control and line tracking in Cartesian space are provided.

Details

Language :
English
ISSN :
17298806 and 17298814
Volume :
1
Issue :
1
Database :
Directory of Open Access Journals
Journal :
International Journal of Advanced Robotic Systems
Publication Type :
Academic Journal
Accession number :
edsdoj.be9be0ba58924b2599cf50d527d8df5a
Document Type :
article