Title:
Control of the Gyrover: A Single-Wheel Gyroscopically Stabilized Robot
Control of the Gyrover: A Single-Wheel Gyroscopically Stabilized Robot
Author(s)
Tsai, Shu-Jen
Ferreira, Enrique D.
Paredis, Christiaan J. J.
Ferreira, Enrique D.
Paredis, Christiaan J. J.
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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 counterweight 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 optimizes 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.
Sponsor
Institute for Complex Engineered Systems at Carnegie Mellon University
Defense Advanced Research Projects Agency (Contract # DABT63-97-1-0003).
Defense Advanced Research Projects Agency (Contract # DABT63-97-1-0003).
Date Issued
1999-10
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