Design and Development of a Self-Balancing Bicycle Using Control Moment Gyro

This thesis reports the use of gyroscopic stabilization to balance kid-size bicycle. 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.

Author dc:creator

• POM YUAN LAM

• Bicycle, Gyroscopic Stabilization, Control Moment Gyro (CMG), Real-Time, Control, Field Programmable Gate Array (FPGA)