Control of the Gyrover : a single-wheel gyroscopically stabilized robot
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.
| 1999 | |
|
State feedback Stability Wheels Mobile robots Counting circuits Gyroscopes Linear feedback control systems Linear programming Kalman filters |
|
| Inglés | |
| Universidad de la República | |
| COLIBRI | |
| https://hdl.handle.net/20.500.12008/20800 | |
| Acceso abierto |
| _version_ | 1807522891495899136 |
|---|---|
| author | Tsai, S |
| author2 | Ferreira, Enrique Paredis, C |
| author2_role | author author |
| author_facet | Tsai, S Ferreira, Enrique Paredis, C |
| author_role | author |
| bitstream.checksum.fl_str_mv | 7f2e2c17ef6585de66da58d1bfa8b5e1 9833653f73f7853880c94a6fead477b1 4afdbb8c545fd630ea7db775da747b2f 9da0b6dfac957114c6a7714714b86306 |
| bitstream.checksumAlgorithm.fl_str_mv | MD5 MD5 MD5 MD5 |
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| collection | COLIBRI |
| dc.creator.none.fl_str_mv | Tsai, S Ferreira, Enrique Paredis, C |
| dc.date.accessioned.none.fl_str_mv | 2019-05-29T15:28:19Z |
| dc.date.available.none.fl_str_mv | 2019-05-29T15:28:19Z |
| dc.date.issued.es.fl_str_mv | 1999 |
| dc.date.submitted.es.fl_str_mv | 20190528 |
| dc.description.abstract.none.fl_txt_mv | 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. |
| dc.identifier.citation.es.fl_str_mv | Tsai, S., Ferreira, Enrique, Paredis, C. Control of the Gyrover : a single-wheel gyroscopically stabilized robot [en línea] IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients, 1999. |
| dc.identifier.uri.none.fl_str_mv | https://hdl.handle.net/20.500.12008/20800 |
| dc.language.iso.none.fl_str_mv | en eng |
| dc.publisher.es.fl_str_mv | IEEE |
| dc.relation.ispartof.es.fl_str_mv | IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients, 1999. Proceedings. |
| dc.rights.none.fl_str_mv | info:eu-repo/semantics/openAccess |
| dc.source.none.fl_str_mv | reponame:COLIBRI instname:Universidad de la República instacron:Universidad de la República |
| dc.subject.es.fl_str_mv | State feedback Stability Wheels Mobile robots Counting circuits Gyroscopes Linear feedback control systems Linear programming Kalman filters |
| dc.title.none.fl_str_mv | Control of the Gyrover : a single-wheel gyroscopically stabilized robot |
| dc.type.es.fl_str_mv | Artículo |
| dc.type.none.fl_str_mv | info:eu-repo/semantics/article |
| dc.type.version.none.fl_str_mv | info:eu-repo/semantics/publishedVersion |
| description | 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. |
| eu_rights_str_mv | openAccess |
| format | article |
| id | COLIBRI_0ca87aefdb2358aa0fc1ee594df15fdb |
| identifier_str_mv | Tsai, S., Ferreira, Enrique, Paredis, C. Control of the Gyrover : a single-wheel gyroscopically stabilized robot [en línea] IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients, 1999. |
| instacron_str | Universidad de la República |
| institution | Universidad de la República |
| instname_str | Universidad de la República |
| language | eng |
| language_invalid_str_mv | en |
| network_acronym_str | COLIBRI |
| network_name_str | COLIBRI |
| oai_identifier_str | oai:colibri.udelar.edu.uy:20.500.12008/20800 |
| publishDate | 1999 |
| reponame_str | COLIBRI |
| repository.mail.fl_str_mv | mabel.seroubian@seciu.edu.uy |
| repository.name.fl_str_mv | COLIBRI - Universidad de la República |
| repository_id_str | 4771 |
| spelling | 2019-05-29T15:28:19Z2019-05-29T15:28:19Z199920190528Tsai, S., Ferreira, Enrique, Paredis, C. Control of the Gyrover : a single-wheel gyroscopically stabilized robot [en línea] IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients, 1999.https://hdl.handle.net/20.500.12008/20800The 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.Made available in DSpace on 2019-05-29T15:28:19Z (GMT). No. of bitstreams: 4 license_text: 21936 bytes, checksum: 9833653f73f7853880c94a6fead477b1 (MD5) license_url: 49 bytes, checksum: 4afdbb8c545fd630ea7db775da747b2f (MD5) license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) license.txt: 4194 bytes, checksum: 7f2e2c17ef6585de66da58d1bfa8b5e1 (MD5) Previous issue date: 1999enengIEEEIEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients, 1999. Proceedings.Las obras depositadas en el Repositorio se rigen por la Ordenanza de los Derechos de la Propiedad Intelectual de la Universidad De La República. (Res. Nº 91 de C.D.C. de 8/III/1994 – D.O. 7/IV/1994) y por la Ordenanza del Repositorio Abierto de la Universidad de la República (Res. Nº 16 de C.D.C. de 07/10/2014)info:eu-repo/semantics/openAccessState feedbackStabilityWheelsMobile robotsCounting circuitsGyroscopesLinear feedback control systemsLinear programmingKalman filtersControl of the Gyrover : a single-wheel gyroscopically stabilized robotArtículoinfo:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionreponame:COLIBRIinstname:Universidad de la Repúblicainstacron:Universidad de la RepúblicaTsai, SFerreira, EnriqueParedis, 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- Universidad de la Repúblicafalse |
| spellingShingle | Control of the Gyrover : a single-wheel gyroscopically stabilized robot Tsai, S State feedback Stability Wheels Mobile robots Counting circuits Gyroscopes Linear feedback control systems Linear programming Kalman filters |
| status_str | publishedVersion |
| title | Control of the Gyrover : a single-wheel gyroscopically stabilized robot |
| title_full | Control of the Gyrover : a single-wheel gyroscopically stabilized robot |
| title_fullStr | Control of the Gyrover : a single-wheel gyroscopically stabilized robot |
| title_full_unstemmed | Control of the Gyrover : a single-wheel gyroscopically stabilized robot |
| title_short | Control of the Gyrover : a single-wheel gyroscopically stabilized robot |
| title_sort | Control of the Gyrover : a single-wheel gyroscopically stabilized robot |
| topic | State feedback Stability Wheels Mobile robots Counting circuits Gyroscopes Linear feedback control systems Linear programming Kalman filters |
| url | https://hdl.handle.net/20.500.12008/20800 |
