Design and construction of self-balancing prototype with control moment gyroscope using PID control

The problem in two-wheeled vehicles is the lack of vehicle stability when getting a sudden force disturbance, especially at low speed and stationery. In this study, stabilization of a two-wheeled self-balancing vehicle prototype is performed by using a control moment gyroscope and PID controller. The gyroscopic effects of two flywheels mounting on a gimbal are used to generate control torque to maintain the vehicle in the upright equilibrium position. First, a dynamic model is derived using the Euler Lagrange formulation for the controller design. The prototype using an Arduino microcontroller is developed, and an Inertia Measurement Unit is used to measure the orientation, which is used for feedback. The designed controller can maintain the prototype in the upright unstable equilibrium position.