Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/71376
Title: Path following controller for gyroscopically stabilized single-wheeled robot
Authors: Al-Mamun, A. 
Zhu, Z.
Vadakkepat, P. 
Tong, H.L. 
Keywords: Gyroscopic precession
Path following controller
Single-wheeled robot
Virtual robot
Issue Date: 2007
Source: Al-Mamun, A.,Zhu, Z.,Vadakkepat, P.,Tong, H.L. (2007). Path following controller for gyroscopically stabilized single-wheeled robot. Proceedings of the 9th WSEAS International Conference on Automatic Control, Modeling and Simulation, ACMOS '07 : 272-277. ScholarBank@NUS Repository.
Abstract: Path following controller, designed according to the principle of following a virtual robot, for a gyroscopically stabilized single-wheeled robot (gyrobot) is presented in this paper. Linear and angular velocities of the virtual robot are pre-computed such that it follows the desired path. These velocities also constitute the feed-forward component of the reference velocities for the gyrobot. The feedback components of the reference velocities are computed based on the error between the pose of virtual robot and that of the gyrobot. Besides the reference velocity generator, a controller is designed to make the single-wheeled robot follow me reference velocities. Conditions for stability of the single-wheeled robot are taken into consideration while designing the reference velocities. Effectiveness of the design is verified using different types of reference paths.
Source Title: Proceedings of the 9th WSEAS International Conference on Automatic Control, Modeling and Simulation, ACMOS '07
URI: http://scholarbank.nus.edu.sg/handle/10635/71376
ISBN: 9789608457720
Appears in Collections:Staff Publications

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