A novel.gyroscopic stabilizer for a controlled unmanned bicycle

External devices have been applied as actuators to stabilize autonomous bicycles. Gyrostabilizer is an effective stabilizer due to its ability in producing large and fast gyroscopic torques. However, conventional gyros are not naturally able to maintain constant moments and directions to stabilize the vehicle against constant `heel'. We present an innovative gyrostabilizer with a twin-flywheel arrangement that can provide any desired gyroscopic roll-moment. The dynamical model of a bicycle together with the gyrostabilizer is obtained using Newton-Euler formulation. A gain-scheduled LQ tracker controller is then designed to provide stability and trajectory tracking in a range of forward velocities. Several numerical simulations are conducted To evaluate the proposed method,. The results show that the proposed controller has appropriate performance and generates smooth signals which are feasible to produce by the gyro.