Self-sustaining drive control of bike by gyro actuator

Abstract

Gyroscope is well known as a sensor but also used as an actuator. In the beginning of 20th century, research that related with gyro-monorail by using a gyro-actuator was conducted. Later, the research on a gyro-bike system was reported in 1970's. Then, the self-sustaining body bike has been reported up until now. In this paper, we propose an unmanned self-sustaining driving control bike in a straight motion using gyro-actuator which is controlled by a computer. First, we use the link model to construct the linear equation of motion. Next, we develop the modeling of a gyro bike system by using the link model theory. Then, we conduct the experiments to confirm the result of the theory.

Optimal fuzzy control of a two-wheel mobile robot equipped with a control moment gyroscope (CMG) stabilizer: Simulation and experiment

“…In 2014, Sohaimi et al established linear dynamic equations for a bicycle robot incorporating a single gimbal CMG. Following this, they designed a controller utilizing this method to effectively uphold balance [17]. In 2015, He and Zhao conceived a feedback control system for a self-balance bicycle stabilized by a single gimbal CMG [18].…”

Co-Design and Experimental Validation of a Gyroscopic Stabilizer for Powered Two-Wheelers

“…The available scientific literature on PTW gyroscopic stabilization shows the potential of this technology, but it is far from being complete, as also remarked in [3,4]. Some papers use gyroscopic stabilization to showcase specific features of some control strategies: [5,6,7,8,9] propose various interpretations of linearised state feedback control; similarly, [10,11] explore robust control using H ∞ and H 2 methods. Veering toward non linear control, one should consider [12], where a piecewise affine control is tested in simulation on a simplified vehicle dynamic model, and [13,14,15] which propose Fuzzy and Adaptive Sliding Mode control.…”