Gyroscopic stabilization of two-wheel robot-bicycle

The problem of synthesis of the control law for gyroscopic stabilization system (GSS) is considered for the most complex circuit, that is the stabilizing circuit of unstable vertical equilibrium position. Two model (each two electromotors driven) robot-bicycles fitted with GSS were tested, one with simultaneously drive and control front wheel, the second with both wheels simultaneously drive and control. Each robot, unlike the traditional bicycle which is additionally stabilized by the handle bar, is stabilized only by gyrostabilizer. The constructed gyroscopic stabilizer is based on the known Cherles-Shilovsky scheme; experimental and modeling results confirm that the synthesized control law provides bicycle stabilization.