Attitude Control of a Rhönrad by Internal Mass Motion

Rhönrad is a gymnastic equipment that is interesting in terms of dynamics and control. The control method of the Spiral motion by the mass motion in the Rhönrad was clarified. First, the condition for a steady Spiral motion with arbitrary mass position was obtained. Then, by using the linearized equation of motion, the control method to control the attitude of the Rhönrad by the mass motion in it was derived. This control method allows the state of the Rhönrad to be changed from one steady Spiral motion to another steady motion.