Balancing two-wheeled autonomous vehicles at low forward speeds is one of the primary challenges in the development of such vehicles. Gyrostabilizers can be used as actuators to make the balance; however, conventional gyros are not typically able to maintain constant moments and directions to stabilize against constant ‘heel’. In this paper, we present an innovative gyrostabilizer including a twin-flywheel arrangement that can provide any desired gyroscopic roll moment. The dynamical model of a bicycle together with the gyrostabilizer is derived using Newton–Euler method. The actuator dynamics is included when designing the control system. A robust non-integer sliding mode controller is then developed to guarantee perfect trajectory tracking in the presence of roll disturbance. Extensive comparative simulations (based on the experimentally measured parameters of a typical bike) are conducted to evaluate the method and to show the impact of introducing the novel actuator. Results demonstrate that the proposed system offers superior performance while the control effort also remains within the capacity of normal actuators.

在低速前进时平衡两轮自动驾驶车辆是这类车辆发展的主要挑战之一。陀螺稳定器可以用作促动器来平衡。然而，传统的陀螺仪通常不能保持恒定的力矩和方向来稳定抵抗恒定的“后跟”。在本文中，我们提出了一种创新的陀螺稳定器，其中包括一个双飞轮装置，可以提供任何所需的陀螺仪侧倾力矩。使用牛顿-欧拉方法导出了带有陀螺稳定器的自行车动力学模型。设计控制系统时，将包括执行器动态特性。然后，开发出了鲁棒的非整数滑模控制器，以确保在存在侧倾干扰的情况下实现完美的轨迹跟踪。进行了广泛的比较模拟（基于典型自行车的实验测量参数），以评估该方法并显示引入新型执行器的影响。结果表明，所提出的系统提供了卓越的性能，同时控制努力也保持在常规执行器的能力范围内。