Today I read a paper titled “Gyroscopically Stabilized Robot: Balance and Tracking”
The abstract is:
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