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.
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