Stabilization of a gyroscopically stabilized robot on an inclined plane

摘要

The dynamics of a single wheel robot rolling without slipping on an inclined plane are investigated. The motion of a single wheel robot is analyzed using Lagrangian dynamics with no assumption that the robot is constrained to remain vertical. We linearized the dynamic model around the position perpendicular to the surface and proposed a state feedback controller for preventing the robot falling over. The backstepping control was designed to stabilize the robot following a straight path with a general heading angle. The feasibility and efficiency of the method are then validated by simulation study.