Gyroscopic stabilization of a kid-size bicycle

Lam, Pom Yuan

doi:10.1109/iccis.2011.6070336

Cited by 32 publications

(22 citation statements)

References 2 publications

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“…This controller may also be relevant for a growing number of terrestrial balancing applications such as unstable vehicles including scooters (e.g. C-1 electric scooter, Lit Motors, USA), bicycles [27], unicycles [28], other personal transportation devices (e.g. the EMBRIO, Bombardier, Canada, and the eniCycle, eniCycle, Slovenia), single-wheel robots [29], and underwater vehicles [30], in addition to micro satellites and space manipulators [31], [32].…”

Section: Discussionmentioning

confidence: 99%

Directional Singularity-Robust Torque Control for Gyroscopic Actuators

Berry

Lemus

Babuška

2016

IEEE/ASME Trans. Mechatron.

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Abstract-Gyroscopic actuation is appealing for wearable applications due to its ability to impart free moments on a body without exoskeletal structures on the joints. We recently proposed an unobtrusive balancing aid consisting of multiple parallelmounted control moment gyroscopes (CMGs) contained within a backpack-like orthopedic corset. Using conventional CMG control techniques, geometric singularities result in a number of performance issues, including either unintended oscillations or freezing of the gimbals at certain alignments, which are typically mitigated by the addition of redundant actuators or by allowing errors in the generated moment; however, because of the minimalistic design of the proposed device and focus on accurate moment tracking, a new methodology is required.In this paper, a control scheme is proposed for non-redundant CMG systems in which oscillations at saturated states are avoided and all remaining singularities are efficiently escaped by exploiting the system geometry; due to its use of classification-specific singularity proximity measures that account for the command moment orientation, it is named the directional singularity-robust (DSR) control law. The performance of this control law is assessed in both simulations and hardware testing. The proposed method is suitable for a wide range of CMG systems, including both balancing and aerospace applications.

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Section: Discussionmentioning

confidence: 99%

Directional Singularity-Robust Torque Control for Gyroscopic Actuators

Berry

Lemus

Babuška

2016

IEEE/ASME Trans. Mechatron.

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“…(i) Controlling balance by controlling the steering angle or using centrifugal force as in the research of Tanaka and Murakami [1], Chen and Dao [2][3][4], Huang et al [5], Vatanashevanopakorn Parnichkun [6], and Wang et al [7] (ii) Controlling balance by changing the center of mass such as Lee and Ham [8], Keo et al [9], and Yamakita et al [10] (iii) Controlling balance by flywheel as in the studies of Suebsomran [11], Sikander and Prasad [12], Beznos et al [13], Hwang et al [14], Karnopp [15], Gallaspy [16], Xu et al [17], Lam [18,19], Lot and Fleming [20], Park and Yi [21], Stephen and Girard [22], Lee et al [23], Suprapto [24], and Kim et al [25] e control method using centrifugal force has the disadvantage of not being able to control bicycle balance when the bicycle is stationary. e control method by changing the center of mass requires more weight, increasing the bicycle weight, while the response time of the system is slow.…”

Section: Introductionmentioning

confidence: 99%

Balancing Control of Two-Wheel Bicycle Problems

Quang

2020

Mathematical Problems in Engineering

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In recent years, more and more scientists have been interested in research on driving two-wheel bicycles. The problems in two-wheel bicycle control problem are self-balancing, uncertain models, and the impact of noise. In the paper, to solve the self-balancing problem, we use the flywheel method according to the inverted pendulum principle. To overcome the effects of the uncertain model, the impact of noise, we designed the vehicle balance controller according to the robust control algorithm. However, robust controllers often have a high order, which affects the quality during real control. To simplify the robust controller, we propose the use of a model order reduction algorithm. The simulation and experimental results have proved the correctness of the solutions given in the paper.

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“…A lowcost hardware platform was developed and the closed-loop PID controllers were designed to maintain the balance of the TWSB vehicle [4]. Authors in [5] designed a double closedloop PD controller to stabilize the tilt angle of the TWSB vehicle model, but the classical input-output feedback cannot eliminate the influence of the coupling term, and cannot effectively control the precession angle back to zero. A fuzzy PID algorithm was designed to realize the self-balancing of a TWSB vehicle.…”

Section: Introductionmentioning

confidence: 99%

Control of Different-Axis Two-Wheeled Self-Balancing Vehicles

et al. 2020

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This paper investigates the controls of straight running and turning of a different-axis twowheeled self-balancing (DATWSB) vehicle. The inverted pendulum system (IPS) with gyroscopic effect is used to describe the uncertainty caused by the working conditions. Based on the generalized coordinate systems, the nonlinear mathematical model of the IPS is established according to Lagrange equation. The sliding mode controller (SMC) and adaptive sliding mode controller (ASMC) are respectively designed to control the system, in which the roll angle feedback is used. The simulation results of three models with/without the controllers are presented, which indicate that the ASMC can make the IPS recover upright faster in straight running, and better achieve the desired roll angle in turning compared with the SMC. Bikesim, a commercial software, is used to build a two-wheeled vehicle model with self-balancing function in combination with Matlab/Simulink. The results show that the ASMC can guarantee the anti-interference and turning abilities of the DATWSB vehicle. INDEX TERMS Different-axis two-wheeled self-balancing vehicle, gyroscopic effect, inverted pendulum, sliding mode control, adaptive sliding mode control.

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Gyroscopic stabilization of a kid-size bicycle

Cited by 32 publications

References 2 publications

Directional Singularity-Robust Torque Control for Gyroscopic Actuators

Directional Singularity-Robust Torque Control for Gyroscopic Actuators

Balancing Control of Two-Wheel Bicycle Problems

Control of Different-Axis Two-Wheeled Self-Balancing Vehicles

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