Control of Single Wheel Robots (Xu, Y. and Ou, Y.; 2005)

The book deals with a particular type of robot consisting of a single wheel with a mechanism inside suspended from the axle providing a means for driving the wheel and containing a spinning flywheel that can be tilted to provide balance and steering. A practical robotics engineer will probably regard the single wheeled robot as an interesting academic problem, but not necessarily worthy of the extensive study necessary to follow the developments detailed in the book. The real interest in the book lies in the careful analysis of the dynamics of a complex multibody system as well as in the control of an unstable system.