Stabilizing control of an autonomous bicycle

Yetkin, Harun; Özgüner, Ü.

doi:10.1109/ascc.2013.6606316

Cited by 13 publications

(4 citation statements)

References 11 publications

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“…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. Other papers make use of gyroscopic stabilization in combination with non standard vehicle configurations: for example the autonomous bike discussed in the simulation study [16] has no steering capability and makes use of the gyroscope to change direction. Similarly, an MPC approach is used in [17] to stabilize a simulated bicycle where the steer angle is considered fixed.…”

Section: Introductionmentioning

confidence: 99%

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

Panzani¹,

Todeschini²,

Corno³

et al. 2022

IEEE/ASME Trans. Mechatron.

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Roll dynamics of powered two-wheelers (PTW) are unstable at low speed and their active control could improve both safety and comfort. The paper proposes the co-design of a stabilization system based on Control Momentum Gyroscopes (CMGs) which, with their compact package and low power request, are a fascinating option in particular for PTW, where on-board energy and size constraints make the design of a proper roll torque actuator challenging. The joint design of the actuator and its control law is proposed by defining a multiobjective optimization problem, which also turns into a tool that allows the designer to steer the parameters choice in different directions. The resulting prototype is manufactured, installed on a motorcycle, tested and experimentally validated in several conditions.

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Section: Introductionmentioning

confidence: 99%

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

Panzani¹,

Todeschini²,

Corno³

et al. 2022

IEEE/ASME Trans. Mechatron.

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show abstract

“…CMG has been widely used to stabilize the unbalanced structure via tilting the gimbal of a rotating flywheel (Defendini et al, 2003; Ünker, 2020; Wasiwitono et al, 2020; Yetkin and Ozguner, 2013). The precession effects of the CMG were used for two-wheeled self-balancing robots to produce more precise and stronger torque than the reaction wheel to prevent the robot from falling (Park and Cho, 2018) and to have better maneuverability (Chen et al, 2016).…”

Section: Introductionmentioning

confidence: 99%

Proportional control moment gyroscope for two-wheeled self-balancing robot

Ünker

2021

Journal of Vibration and Control

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A two-wheeled self-balancing robot is considered for investigating the responses of a control moment gyroscope powered by a proportional controller to prevent the robot rollover against the constant inertia forces because of accelerations of the wheels of the robot. The amplitudes of the frequency equations related to the required angular momentum of flywheels with an optimum controller gain were also found. A simulation model of the robot using computer-aided engineering software (RecurDyn) is built to verify the equations of a Lagrangian model. The results of both obtained from the Lagrangian and that from RecurDyn simulations are analyzed comparatively, in which the proportional control loop reduces the required flywheel speeds Ω of gyros and keeps the robot in a very small amplitude of a stable sinusoidal motion in the upright position.

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“…However, because of the CMGs characteristics, the CMG cannot be used for continuous or constant disturbances. 16…”

Section: Introductionmentioning

confidence: 99%

“…However, because of the CMGs characteristics, the CMG cannot be used for continuous or constant disturbances. 16 This article introduces the development of a twowheeled self-balancing robot, called the Kookmin University segWAY (KUWAY), which employs CMG to generate torque around the pitch (left-right) axis. The KUWAY is shown in Figure 1.…”

Section: Introductionmentioning

confidence: 99%

Development of a self-balancing robot with a control moment gyroscope

Park

Cho

2018

International Journal of Advanced Robotic Systems

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This study introduces a two-wheeled self-balancing mobile robot based on a control moment gyroscope module. Two-wheeled mobile robots are able to achieve better mobility and rotation in small spaces and to move faster than legged robots such as humanoid type robots. For this reason, the two-wheeled mobile robot is generally used as a mobile robot platform. However, to maintain its balance, the two-wheeled robot needs to use movements of its two wheels. When an unexpected disturbance affects the robot, the robot maintains its balance with movements of the wheels and tilting of the body. If the disturbance exceeds the response capability of the robot, the robot will lose its stability. At the same time, the safety of the robot may be put at risk by movements to maintain balance. To address these issues, a robot was designed with a control moment gyroscope module to improve balance while minimizing movement. When a disturbance is applied to the robot, the disturbance is estimated by a disturbance observer and the control moment gyroscope controller compensates the disturbance. Using the control moment gyroscope module, the robot can maintain balance with just small movements of its wheels. Improved performance and stability were verified with experiments and simulations.

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Stabilizing control of an autonomous bicycle

Cited by 13 publications

References 11 publications

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

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

Proportional control moment gyroscope for two-wheeled self-balancing robot

Development of a self-balancing robot with a control moment gyroscope

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