Stabilization of a gyroscopically stabilized robot on an inclined plane

Author

Xu, Yangsheng ; Sun, Loi Wah

Author_Institution

Dept. of Mech. & Autom. Eng., Chinese Univ. of Hong Kong, Shatin, China

Volume

4

fYear

2000

fDate

2000

Firstpage

3549

Abstract

The dynamics of a single wheel robot rolling without slipping on an inclined plane are investigated. The motion of a single wheel robot is analyzed using Lagrangian dynamics with no assumption that the robot is constrained to remain vertical. We linearized the dynamic model around the position perpendicular to the surface and proposed a state feedback controller for preventing the robot falling over. The backstepping control was designed to stabilize the robot following a straight path with a general heading angle. The feasibility and efficiency of the method are then validated by simulation study

Keywords

control system synthesis; mobile robots; position control; robot dynamics; stability; state feedback; Lagrangian dynamics; backstepping control; gyroscopically stabilized robot; inclined plane; rolling; single wheel robot; state feedback controller; Coordinate measuring machines; Flywheels; Goniometers; Lagrangian functions; Mobile robots; Motion analysis; Robot kinematics; Robotics and automation; Spinning; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on

Conference_Location

San Francisco, CA

ISSN

1050-4729

Print_ISBN

0-7803-5886-4

Type

conf

DOI

10.1109/ROBOT.2000.845284

Filename

845284