Y. Ou and Y. Xu
Nonholonomic constraints, nonlinear control, underactuated systems, dynamically stabilized robot, mobile robot
The single-wheel, gyroscopically stabilized robot—Gyrover-is a dynamically stable but statically unstable, underactuated system. Based on the dynamic model of the robot, this article investigates two classes of nonholonomic constraints associated with the system. Then, through transferring the systems states from Cartesian coordinate to polar coordinate, control laws for point-to-point control and line tracking in Cartesian space are provided. Experimental work is addressed to verify the control laws.
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