This paper presents development and control of a disc-typed one-wheel mobile robot, called GYROBO. Several models of the onewheel\r\nmobile robot are designed, developed, and controlled. The current version of GYROBOis successfully balanced and controlled\r\nto follow the straight line. GYROBO has three actuators to balance and move. Two actuators are used for balancing control by\r\nvirtue of gyro effect and one actuator for driving movements. Since the space is limited and weight balance is an important factor\r\nfor the successful balancing control, careful mechanical design is considered. To compensate for uncertainties in robot dynamics,\r\na neural network is added to the nonmodel-based PD-controlled system. The reference compensation technique (RCT) is used for\r\nthe neural network controller to help GYROBO to improve balancing and tracking performances. Experimental studies of a selfbalancing\r\ntask and a line tracking task are conducted to demonstrate the control performances of GYROBO.
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