Control of the Gyrover

Shu Jen Tsai, Enrique D. Ferreira, Christiaan J.J. Paredis

Producción científica: Contribución a una conferenciaArtículorevisión exhaustiva

14 Citas (Scopus)

Resumen

The Gyrover is a single wheel gyroscopically stabilized mobile robot developed at Carnegie Mellon University. An internal pendulum serves as a counter weight for a drive motor that causes fore/aft motion, while a tilt-mechanism on a large gyroscope provides a mechanism for lateral actuation. In this paper, we develop a detailed dynamic model for the Gyrover, and use this model in an extended Kalman filter to estimate the complete state. A linearized version of the model is used to develop a state feedback controller. The design methodology is based on a semi-definite programming procedure which optimize the stability region subject to a set of Linear Matrix Inequalities that capture stability and pole placement constraints. Finally, the controller design combined with the extended Kalman filter are verified on the prototype.

Idioma originalInglés
Páginas179-184
Número de páginas6
EstadoPublicada - 1999
Publicado de forma externa
Evento1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' - Kyongju, South Korea
Duración: 17 oct. 199921 oct. 1999

Conferencia

Conferencia1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients'
CiudadKyongju, South Korea
Período17/10/9921/10/99

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