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dc.contributor.authorFerreira, Enrique D.
dc.contributor.authorTsai, Shu-Jen
dc.contributor.authorParedis, Chris
dc.contributor.authorBrown, H. Benjamin, Jr.
dc.date.accessioned2010-05-11T19:42:21Z
dc.date.available2010-05-11T19:42:21Z
dc.date.issued2000
dc.identifier.citationFerreira, E. D., Tsai, S.-J., Paredis, C. J. J. and Brown, H. B. (2000) Control of the Gyrover: a single-wheel gyroscopically stabilized robot. Advanced Robotics, 14(6), 459-475.en_US
dc.identifier.issn0169-1864
dc.identifier.urihttp://hdl.handle.net/1853/33017
dc.descriptionThe definitive article is published in Advanced Robotics, located at http://brill.publisher.ingentaconnect.com/content/vsp/arb (DOI: 10.1163/156855300741951). © Brill Academic Publishersen_US
dc.description.abstractThe 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 large gyroscope on a tilt-mechanism provides for lateral balance and steering 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 robot prototype.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectGyroscopesen_US
dc.subjectSymbolic modelingen_US
dc.subjectRobotic controlen_US
dc.subjectLinear matrix inequalitiesen_US
dc.titleControl of the Gyrover: A Single-Wheel Gyroscopically Stabilized Roboten_US
dc.typeArticleen_US
dc.contributor.corporatenameGeorgia Institute of Technology. The Systems Realization Laboratory
dc.contributor.corporatenameQuantum Corporation
dc.contributor.corporatenameCarnegie-Mellon University. Robotics Institute
dc.contributor.corporatenameCarnegie-Mellon University. Institute for Complex Engineered Systems
dc.publisher.originalBrill Academic Publishers


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