Development of an innovative gyrostabilizer actuator for autonomous two-wheel vehicles

Gyrostabilizers are applied to unstable two-wheel vehicles as a useful balancing mechanism which employs the control moment gyroscope as an actuator. They typically cannot maintain constant moments and directions, so it causes some limitation in stabilization and trajectory tracking problem. In this paper, aimed at solving this problem, we propose an innovative gyrostabilizer which has the ability to supply constant gyroscopic moment. We applied it for an unmanned bicycle to demonstrate its efficiency in the control of thevehicle in every velocity even in the presence of constant disturbance and impulse. The dynamic of a bicycle together with the balancer is obtained and two appropriate tracking controller is developed to cope with the parameter-varying dynamic of the vehicle. The first is a gain-scheduling integral state feedback with a TSK-fuzzy switching controller, and the second is an adaptive integral state feedback. Numerical simulations are conducted based on real measured parameters of the bicycle to evaluate the effectiveness of the two proposed systems

کلیدواژه ها:

Gyrostabilizers ، two-wheel vehicles ، balancer ، tracking controller.