Gyroscopically Stabilized Robot: Balance and Tracking

TL;DR

This paper presents a control strategy for a gyroscopically stabilized single-wheel robot, Gyrover, enabling it to maintain balance and perform point-to-point and line tracking tasks through backstepping control and coordinate transformations.

Contribution

It introduces a novel control law for Gyrover's balance and tracking based on dynamic modeling and backstepping, addressing nonholonomic constraints in the system.

Findings

Successful balance control demonstrated

Effective point-to-point control achieved

Line tracking performance validated

Abstract

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.