Balancing control of bicycle robot

This paper addresses the development of the bicycle robot with balancing control. The flywheel is a device to control bicycle robot stabilizing in a prescribed roll angle. Balancing of bicycle maintains by the rotating of two flywheels with a constant angular velocity. There are composed of two fly wheels, upper and lower fly wheel. The rotations around pitch axis of two fly wheels in different directions cause the change of angular momentum with time. The torque will produce due to weight changing of fly wheel and its direction is proportional to rotating axis. The result from summation of torque from two fly wheels will be set to zero at stable point. To tracking with desired roll angle, PD controller is used to tracking the roll angle by controlling the pitch angle of fly wheels according to a prescribed control of roll angle. The results balancing control of bicycle robot stabilization are shown by simulation methods.