Gyroscopic Stabilization of a Self-Balancing Robot Bicycle
Pom Yuan Lam and Tan Kian Sin
Nanyang Polytechnic, 180 Ang Mo Kio Avenue 8 Singapore 569830
This paper reports the design and development of a self-balancing bicycle using off-the-shelf electronics. A self-balancing bicycle is an unstable nonlinear system similar to an inverted pendulum. Experimental results show the robustness and efficiency of the proportional plus derivative controller balancing the bicycle. The system uses a control moment gyroscope as an actuator for balancing.
-  A V. Beznos, A. M. Formalsky, E. V. Gurfinkel, D. N. Jicharev, A. V. Lensky, K. V. Savitsky et al., “Control of autonomous motion of two-wheel bicycle with gyroscopic stabilization,” In:Proc. of the IEEE int. conf. on robotics and automation, p. 2670-5, 1998.
-  J. M. Gallaspy, “Gyroscopic stabilization of an unmanned bicycle,” M.S. Thesis, Auburn University, 1999.
-  S. Lee, W. Ham, “Self-stabilizing strategy in tracking control of unmanned electric bicycle with mass balance,” IEEE int. conf. on intelligent robots and systems, p. 2200-5, 2002.
-  Y. Tanaka, T. Murakami, “Self sustaining bicycle robot with steering controller,” In: Proc. of int. workshop on advanced motion control, 2004, p. 193-7.
-  The Murata Boy Website.
- [Online].Available from http://www.murataboy.com/en/
-  T. T. BUI and M. Parnichkun, “Balancing of Bicyrobo by particle swarm optimisation based structure-specified mixed H2/H∞ control,” Int. J. of Advanced Robotic Systems, 5(4), 395-402, 2008.
-  S. Wolfram, “Analytical robotics and mechatronics,” New York: McGraw-Hill, 1995.
-  K. Ogata, “Modern Control Engineering,” Prentice Hall, 1998.