Control of the Gyrover : a single-wheel gyroscopically stabilized robot
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...
| Autores: | , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 1999 |
| País: | Uruguay |
| Institución: | Universidad de la República |
| Repositorio: | COLIBRI |
| Idioma: | inglés |
| OAI Identifier: | oai:colibri.udelar.edu.uy:20.500.12008/20800 |
| Acceso en línea: | https://hdl.handle.net/20.500.12008/20800 |
| Access Level: | acceso abierto |
| Palabra clave: | State feedback Stability Wheels Mobile robots Counting circuits Gyroscopes Linear feedback control systems Linear programming Kalman filters |
| Sumario: | 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. |
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