Gyroscopically Stabilized Robot: Balance and Tracking

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dc.creatorOu, Yongsheng
dc.creatorXu, Yangsheng
dc.date2004-12-11
dc.date.accessioned2026-07-07T03:22:12Z
dc.date.available2026-07-07T03:22:12Z
dc.descriptionThe 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.
dc.identifierhttps://arxiv.org/abs/cs/0412050
dc.identifierhttp://arxiv.org/abs/cs/0412050
dc.identifierInternational Journal of Advanced Robotic Systems, Volume 1, Number 1, March 2004, pp.23-32
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/32502
dc.subjectRobotics
dc.titleGyroscopically Stabilized Robot: Balance and Tracking
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