Control of the Gyrover: A Single-Wheel Gyroscopically Stabilized Robot

Shu-Jen Tsai, Enrique Ferreira and Chris Paredis
Conference Paper, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99), Vol. 1, pp. 179 - 184, October, 1999

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Abstract

The Gyrover is a single wheel gyroscopically stabilized mobile robot developed at Carnegie Mellon University. An internal pendulum serves as a counter weight for a drive motor that causes fore/aft motion, while a tilt-mechanism on a large gyroscope provides a mechanism for lateral actuation. In this paper we develop a detailed dynamic model for the Gyrover and use this model in an extended Kalman filter to estimate the complete state. A linearized version of the model is used to develop a state feedback controller. The design methodology is based on a semi-definite programming procedure which optimize the stability region subject to a set of linear matrix inequalities that capture stability and pole placement constraints. Finally, the controller design combined with the extended Kalman filter are verified on the prototype.


@conference{Tsai-1999-15032,
author = {Shu-Jen Tsai and Enrique Ferreira and Chris Paredis},
title = {Control of the Gyrover: A Single-Wheel Gyroscopically Stabilized Robot},
booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99)},
year = {1999},
month = {October},
volume = {1},
pages = {179 - 184},
} 2017-09-13T10:46:42-04:00