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Vol. 34, No. 8(3), S&M3042

Notice of retraction
Vol. 32, No. 8(2), S&M2292

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Sensors and Materials
is an international peer-reviewed open access journal to provide a forum for researchers working in multidisciplinary fields of sensing technology.
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Sensors and Materials, Volume 35, Number 2(1) (2023)
Copyright(C) MYU K.K.
pp. 347-363
S&M3172 Research Paper of Special Issue
https://doi.org/10.18494/SAM4168
Published in advance: November 30, 2022
Published: February 9, 2023

Design of Self-balancing Model-size Electrical Motorbike Robot Using Control Moment Gyroscope [PDF]

Rodi Hartono, Seung Bin Kim, Patrick Tshibang A Kalend, Nam Kyun Baik, and Kyoo Jae Shin

(Received October 18, 2022; Accepted November 28, 2022)

Keywords: electrical motorbike robot, control moment gyroscope, pole placement controller, linear-quadratic regulator controller

In recent years, a significant amount of study has been conducted on how to control the equilibrium of an electrical motorbike robot (EMBot). This is essential because a stable EMBot must be controlled by a reliable system. In this study, we explored a number of approaches for stabilizing an EMBot by using a control moment gyroscope (CMG). The momentum from a flywheel’s rotation at a set speed is employed to counteract gravity and keep the EMBot balanced. To measure the roll angle of the EMBot, an inertial sensor is used. From generalized coordinate systems, a nonlinear mathematical model of the EMBot is derived using Lagrange’s equation. Pole placement (PP) and linear-quadratic regulator (LQR) controllers are utilized to test and observe the system’s stability. By determining the appropriate locations of the closed-loop poles in the PP controller and finding the optimal K-matrix value by selecting closed-loop characteristics in the LQR method, the performance of the system in maintaining stability can be identified.

Corresponding author: Nam Kyun Baik


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Cite this article
Rodi Hartono, Seung Bin Kim, Patrick Tshibang A Kalend, Nam Kyun Baik, and Kyoo Jae Shin, Design of Self-balancing Model-size Electrical Motorbike Robot Using Control Moment Gyroscope, Sens. Mater., Vol. 35, No. 2, 2023, p. 347-363.



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