Stabilization and line tracking of the gyroscopically stabilized robot

The single-wheel gyroscopically-stabilized robot, Gyrover, is dynamically stable but statically unstable, with both first-order and second-order nonholonomic constraints. In this paper, based on the dynamic model of the robot, we first study the two classes of nonholonomic constrains associated with the system. We then propose control laws for the stabilization in Cartesian space and tracking line segments, while keeping its balance laterally.