Robot-equilibrist

The problem on a stabilisation of the equilibrium position of the robot is investigated. The robot is posed on the cylinder, which can roll along a horizontal plane. The sliding in all external contacts is absent. The control is realized by electromechanical angular acceleration of a flywheel placed on a robot. Steady motions are investigated. It is shown that corresponding linear system is completely controllable. PD-regulator with saturation is designed. The area of stability due to bounded control function is found. The influence of measuring errors is studied. The calculation of control properties is fulfilled for some particular parameters of the robot.