Title :
Gyroscopic stabilization of a kid-size bicycle
Author_Institution :
Nanyang Polytech., Singapore, Singapore
Abstract :
This paper reports the design and development of a self-balancing bicycle using off the shelf electronics. A self-balancing bicycle is a non-linear unstable system similar to that of an inverted pendulum. Experimental results show the robustness and efficiency of a proportional plus derivative (PD) controller balancing the bicycle. The system uses a control moment gyroscope (CMG) as an actuator for balancing.
Keywords :
PD control; bicycles; gyroscopes; nonlinear control systems; stability; PD controller; control moment gyroscope; gyroscopic stabilization; inverted pendulum; kid-size bicycle; nonlinear unstable system; proportional plus derivative controller; robustness; self-balancing bicycle; shelf electronics; Bicycles; Equations; Flywheels; Mathematical model; Robots; Rotors; Torque; Bicycle; Control Moment Gyro (CMG); Control and FPGA; Real-Time;
Conference_Titel :
Cybernetics and Intelligent Systems (CIS), 2011 IEEE 5th International Conference on
Conference_Location :
Qingdao
Print_ISBN :
978-1-61284-199-1
DOI :
10.1109/ICCIS.2011.6070336
