Modeling and control of a gyroscope-equipped two-wheeled self-balancing robot under disturbances
Published: October 3, 2026
Abstract
This study develops a longitudinal nonlinear model of a two-wheeled self-balancing robot equipped with a counter-rotating paired control moment gyroscope (CMG). The model couples translational motion, body tilt, wheel torque, and CMG torque. A hybrid control architecture is proposed in which the wheels provide sustained torque and exchange momentum with the ground, while the paired CMG handles rapid transient responses. All eight tests of the single-axis paired CMG model were passed. From an initial tilt of 2°, the system returned to within ±0.5° after 1.07 s. A 10 N force applied for 0.2 s at a height of 1 m produced a maximum tilt of 0.422°. A sustained torque of 5 N·m caused gimbal saturation after 5.20 s, followed by the body exceeding the fall threshold after 6.53 s. The results establish the limitations of a standalone CMG and a test set for the hybrid model. Full wheel-CMG performance will be assessed once the wheel parameters have been determined.
Keywords
two-wheeled self-balancing robotinverted pendulumpaired control moment gyroscopetorque allocation
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