Control of the GYROVER: A single-wheel gyroscopically. . .

Abstract 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 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.