IJAT Vol.5 No.6 pp. 916-923
doi: 10.20965/ijat.2011.p0916


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

April 13, 2011
October 18, 2011
November 5, 2011
bicycle, Control Moment Gyro (CMG), realtime, control and FPGA

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.

Cite this article as:
Pom Yuan Lam and Tan Kian Sin, “Gyroscopic Stabilization of a Self-Balancing Robot Bicycle,” Int. J. Automation Technol., Vol.5, No.6, pp. 916-923, 2011.
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