Control of the Gyroscopically Balanced Unicycle Robot

Abstract

The objective of this thesis is to design and implement a unicycle robot that is stabilized by two control moment gyroscopes The control moment gyroscopes can generate more lateral balancing torque with a compact size rather than using a reaction wheel which would lead to weaker robustness In this thesis the Euler-Lagrange method is used to derive the dynamic model of the system Then based on the linearized system model MATLAB is used to design the stabilizing controller and the simulation is conducted through Simulink to verify robustness and feasibility In the experiments an inertial measurement unit and encoders are used as the posture sensors An indoor GPS module is used to obtain the position of the robot An STM32F407 microcontroller board is used to implement the control law It is shown experimentally that the designed control system stabilizes the robot at its upright position Furthermore this thesis also presents the design simulation and experimental studies of trajectory tracking control

Date of Award	2020
Original language	English
Supervisor	Ming-Tzu Ho (Supervisor)