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 original | Inglés |
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Páginas | 179-184 |
Número de páginas | 6 |
Estado | Publicada - 1999 |
Publicado de forma externa | Sí |
Evento | 1999 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. 1999 → 21 oct. 1999 |
Conferencia
Conferencia | 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' |
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Ciudad | Kyongju, South Korea |
Período | 17/10/99 → 21/10/99 |