Oscillation Control of Two-Wheeled Robot using a Gyrostabilizer

Two-wheeled robots are popular in transportation applications because of their high maneuverability. In this research, the oscillation attenuation performance control moment gyroscope (CMG) for two-wheeled robot was studied. The stored kinetic energy a CMG can offer weight and volume saving compared to conventional vibration absorbers. This is also more reactionless than other absorbers by transforming impact angular momentum unidirectional thrust along center gravity. gimbals precess while providing under gravitational force. study indicated that operate wide range excitation frequencies balance stable period. Because flywheel speed much easier changed against unwanted oscillations disturbing stability. There relation between gimbal amplitude CMG, which required be reduced if higher chosen. It concluded from amplitudes at target frequency decrease as increases. mathematical model using ANSYS software. simulation results matched well with theoretical Lagrangian model.