Adaptive Control of a Gyroscopically Stabilized Pendulum and Its Application to a Single-Wheel Pendulum Robot

This paper presents an adaptive decoupling control strategy for a gyroscopically stabilized pendulum. In the proposed model, the gyro moment acts directly on the pivot of the pendulum, the magnitude of which is restricted by gyroscopic precession. A decoupling algorithm based on virtual control is proposed to regulate the upright posture of the pendulum through gyroscopic precession. Virtual control is considered a control torque that acts on...