Gyroscopically Stabilized Robot: Balance and Tracking | Zendy

Yongsheng Ou | Zendy; Yangsheng Xu | Zendy

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Gyroscopically Stabilized Robot: Balance and Tracking

Author(s) -

Yongsheng Ou,

Yangsheng Xu

Publication year - 2004

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/5616

Subject(s) - cartesian coordinate system , backstepping , computer science , control theory (sociology) , nonholonomic system , cartesian coordinate robot , robot , coordinate system , underactuation , point (geometry) , tracking (education) , control engineering , control (management) , robot control , artificial intelligence , adaptive control , mobile robot , mathematics , engineering , psychology , pedagogy , geometry

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

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