INTEGRATED CONTROL METHOD FOR BALANCING A TWO WHEELED VEHICLE USING CONTROL MOMENT GYROSCOPES AND DRIVE-BY-WIRE STEERING SYSTEMS

摘要

Steering is used to augment the CMG-based balance control of a two-wheeled vehicle, e.g., a bicycle, electric bicycle ("ebike"), scooter, electric scooter, moped, or motorcycle. A control architecture enables a two wheeled vehicle with simultaneously or alternating mechatronic attitude control systems to balance autonomously at rest or while dynamically driven with mechatronic command.