Decoupled dynamics and stabilization of single wheel robot

摘要

Gyrover is a single wheel, gyroscopically stabilized robot. It is a single wheel connected to a spinning flywheel through a two-link manipulator at the wheel bearing. The nature of the system is nonholonomic, nonlinear and underactuated. In this paper, we first develop a dynamic model and decouple the model with respect to the control inputs. We then study the effect of the flywheel dynamics on stabilizing the single wheel robot via simulation and experiment study. Finally, we design a linear state feedback control law that stabilizes the single wheel robot toward/in different lean angles, so as to control the precession rate. Simulation and experiment study validated the proposed controller as well as the developed dynamic model.