Implementation of fuzzy logic control on two wheel self balancing prototype using control moment gyroscope

The problem with two-wheeled vehicles is that this system is unbalanced, especially at low speed or in stationary states. A gyroscopic precession from a Control Moment Gyroscope (CMG) is used to balance on a two-wheeled vehicle prototype. A CMG consists of a spinning flywheel and two motorized gimbals that tilt the flywheel's angular momentum. As the gimbal rotates, the changing angular momentum causes a gyroscopic torque that is used as balancing torque. This study aims to implement fuzzy logic to control the gimbal rotation on the control moment gyroscope. Two functions of Sugeno-type fuzzy logic control are used: the triangle function with the trapezoid function. The experimental results show that the triangular function performs better than the trapezoidal function.