Proceedings of the 2015
IEEE Conference on Robotics and Biomimetics
Zhuhai, China, December 6-9, 2015
A Gyroscope-Based Inverted Pendulum with Application to Posture
Stabilization of Bicycle Vehicle
Hongzhe Jin*, Decai Yang, Zhangxing Liu, Xizhe Zang, Ge Li, Yanhe Zhu

Abstract—This paper presents a new inverted pendulum
system, whose core stabilizing device is designed based on
gyroscopic precession effect. Traditional inverted pendulum
system, such as inertia wheel pendulum, gains the required
balance torque through the control over the acceleration and
deceleration of inertia wheel. Considering the issues of the
inefficiency, inflexibility and large capability required for motor
driver of the traditional inverted pendulum system, the feature
of the new inverted pendulum system possesses the advantages
of simple structure, quick response, and high efficiency in
control. The gyroscopic precession effect of high-speed
gyroscopic rotor effectively provides a large torque to realize
stable equilibrium of the new inverted pendulum system.
Non-disturbance and disturbance balance experiments of the
physical prototype and application of the stabilizing device to
posture stabilization of bicycle vehicle are presented in this
paper. The results showed that the stabilizing device responded
quickly and realized stable equilibrium of the new inverted
pendulum system efficiently. Besides, the consequence of
application validated that the stabilizing device owns a strong
anti-interference ability and a good applicability.
I. INTRODUCTION
The inverted pendulum system (IPS) is a multivariable,
nonlinear and static unstable system with strong couplings.
Therefore it’s constantly considered as an ideal experimental
platform for the research and verification of many control
theories [1]-[7]. Various inverted pendulum systems with
different structures, such as single-link inverted pendulum
[8], double-link inverted pendulum [9], triple-link inverted
pendulum [10], rotary inverted pendulum [11] and inertia
wheel pendulum [12], were designed for the validation of
balance control algorithms. However, since most of the
inverted pendulum systems [8]-[11] except for inertia wheel
pendulum system are balanced under extra driving force or
driving torque from a fixed foundation or moving cart, they
can only implement self-equilibrium but be applied as
stabilizing devices on other mechanical platforms.
Apart from research on self-equilibrium, the traditional
inverted pendulum system such as inertia wheel pendulum
system was widely applied to the balance control of some
other objects, especially unicycle robot [13], [14]. By
controlling the spin angular acceleration and deceleration of
inertia wheel, the inertia wheel pendulum system can
generate additional torque to balance the gravity torque and to
steer the unicycle robot. Nevertheless, the main problems are
Manuscript received July 25, 2015. This work was supported in part by
the National Natural Science Foundation of China under Grant 61004076,
Grant 61473102, and Grant 61273316, in part by the Postdoctoral Science
Foundation of China under Grant 20100480995.
Authors are all with the School of Mechatronics Engineering, Harbin
Institute of Technology, Harbin, Heilongjiang 150001, China (corresponding
author: Hongzhe Jin (e-mail: hongzhejin@hit.edu.cn, phone: +86-451-864
13382; fax:+86-451-86414538).
978-1-4673-9675-2/15/$31.00 © 2015 IEEE
low working efficiency and demanding high motor drive
capability according to the results of our previous studies
[15]–[18].
Compared with the inertia wheel pendulum system,
gyroscopic stabilizing devices are more efficient, more stable
and of better anti-interference ability. According to the law of
conservation of angular momentum, a heavy mass spinning at
very high speed provide large resistance to the interference of
spin axis. Besides, by spinning a gyroscopic rotor under high
speed, the gyroscopic stabilizing device can generate relative
huge precession torque (balance torque) with small
directional changing rate of its precession angle. Therefore,
the gyroscopic stabilizing devices are of high efficiency,
stability and anti-interference ability.
This paper proposes a new gyroscope-based inverted
pendulum with compact structure. Its core part is a stabilizing
device based on gyroscopic precession effect (GPE). The
stable equilibrium of the system is realized only dependent on
the embedded stabilizing device. The compact and modular
configuration is especially conducive to application. Besides,
since the gyroscopic rotor spins in an approximately constant
and high speed, little electrical energy is need for generating
precession torque by changing the direction of its spin axis
respective slowly. Thus, the new IPS is also efficient.
Non-disturbance and disturbance balance experiments of the
physical prototype was conducted and application of the
stabilizing device to posture stabilization of bicycle vehicle
were also presented in this paper. All the results show that the
new inverted pendulum system possesses quick response and
high efficiency in control.
This paper is composed of four sections including the
introduction. In section II, the stable equilibrium principle,
physical prototype structure and dynamics model of the new
IPS are described in detail. The balance experiments of
non-disturbance and disturbance, and the application of the
stabilizing device to posture stabilization of bicycle vehicle
are presented in section III. In section IV, conclusion is given
concerning the results of this work.
II. STRUCTURAL DESIGN
A. Stable equilibrium principle
Fig. 1 illustrates the stable equilibrium principle of the
stabilizing device proposed based on GPE.
Where 𝐼𝑧 , 𝜔𝑧 , 𝜔𝑦 , 𝜃 and 𝜏𝑥 denote the moment of
inertia about 𝑍𝑐 axis, the rotation angular velocity, the
precession angular velocity, the precession angle and the
precession torque of the gyroscopic rotor respectively. The
correlative equation is represented by
𝜏𝑥 = −𝐼𝑧 ∙ 𝜔𝑧 ∙ 𝜔𝑦 (1)
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 The main components are the stabilizing device and the
bottom wheel. The overall dimensions of the physical
prototype model are 177 mm ∗123 mm ∗236 mm and the total
mass is 3.525 kg, including the controller, the electronic
speed governor, the motor driver and so on. Among them, the
stabilizing device is composed of internal stent, external stent,
transmission mechanism and gyroscopic body. The proposed
structure introduced some special design and, therefore,
brought many advantages, shown as follows:
(1) Since gyroscopic rotor consists of only a steel
turntable and a directly embedded high-speed disc type
motor, the size of the gyroscopic body is reduced and the
structure becomes more compact.
(2) The gyroscopic body uses a design of single
dual-rotor gyroscopic structure, which increases the moment
of inertia of the gyroscopic body, generates a larger
Fig 1. Stable equilibrium principle of stabilizing device
precession torque and lowers the required drive capability of
As expressed in equation (1), when the moment of high-speed motor.
inertia of the gyroscopic rotor about 𝑍𝑐 axis is fixed, the (3) As a bearing structure, the bottom wheel adopts a
precession torque is proportional to the product between the semi-cylindrical structure, which increases the bearing area
rotation angular velocity and the precession angular velocity. and guarantees the new IPS swinging freely and better
The drawback is that the rotation angular velocity is difficult resistance against the impact of disturbance.
to control. Therefore, the rotation of gyroscopic rotor C. Dynamics Model
maintains a relatively high and stable speed driven by disc
type brushless DC motor but it’s not under control and
regulation. The precession angular velocity is the actual
control variable. And the precession movement of gyroscopic
rotor is driven by DC servo motor.
An effective torque and a disturbance torque could be
divided from the precession torque, calculated respectively by
𝜏𝑥 cos 𝜃 and 𝜏𝑥 sin 𝜃. And the precession angle 𝜃 changes in
a range of (−𝜋/2, 𝜋/2). The effective torque reaches the largest
value when 𝜃 is zero , decreases gradually as the increasing of
the absolute value of 𝜃 and reaches zero when the absolute
value of 𝜃 equals 𝜋/2, which means no control effect exist.
In order to obtain a large effective torque, the stabilizing
device should ensure that the value of the gyroscopic
precession angle changes in the vicinity of zero point. The
disturbance torque which varies on the contrary to the
effective torque could not be eliminated availably by itself.
Thus a bottom wheel with semi-cylindrical structure is
developed to ease the influence of the disturbance torque,
viewed in Fig.2.
B. Prototype structure Fig 3. Dynamic model of the new IPS

Fig. 3 illustrates the dynamic model of the new IPS.

Where σ(𝑜; 𝑥, 𝑦, 𝑧) , σ1 (𝑜𝑏 ; 𝑥𝑏 , 𝑦𝑏 , 𝑧𝑏 ) and σ2 (𝑜𝑐 ; 𝑥𝑐 , 𝑦𝑐 , 𝑧𝑐 )
denote respectively the absolute coordinate, the gyroscopic
body coordinate and the gyroscopic rotor centroid coordinate.
Coordinate σ1 rotates with an angular velocity 𝜔1 and the
rotation angular velocity of the gyroscopic rotor is 𝜔2 . The
definitions related to the dynamic model are listed in the
Table I.
Due to the limitation of pages, the computational
procedure about the dynamical equation is skipped.
According to the principle of Lagrange-d’Alembert and
normalized Euler-Lagrange equation of motion, the general
form of dynamical equation is represented by
Fig 2. Prototype model of the new IPS 𝜏 = 𝐷(𝑞)𝑞̈ + 𝐶(𝑞, 𝑞̇ )𝑞̇ + 𝐺 (2)

Fig. 2 displays the new IPS prototype model proposed.

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 𝜙 𝜙 𝜙
𝐾𝑃 𝐾 𝐾
TABLE I MAGNETIC SYMBOLS
𝐾𝑃 = [ 𝜃
], 𝐾𝐼 = [ 𝐼𝜃 ], 𝐾𝐷 = [ 𝐷𝜃 ].
𝐾𝑃 𝐾𝐼 𝐾𝐷
Symbol Quantity Matrix 𝐾𝑃 , 𝐾𝐼 and 𝐾𝐷 denote respectively the control
𝜙，𝜃
𝜏𝜙 ，𝜏𝜃 Joint torqueInclination angle, precession angle parameters of proportion, integral and differential for PID
𝑔 Gravity constant controller. Matrix 𝐺̂ estimates the gravitational moment term
𝑙 Center of gravity of the external stent of the new IPS. By adjusting the value of those parameters, a
relative accurate estimation of the gravitational moment
𝑀 Mass of the total IPS
could be achieved, namely 𝐺̂ − 𝐺 = 0 . By substitute
𝑚 Mass of the two gyroscopic rotors together equation (3) into equation (4), it can be simplified as
𝑚𝑡𝑙𝑡 ，𝑚𝑤𝑧𝑗 Mass of the internal stent and the external stent 𝑡
𝐷(𝑞)𝑒̈ + 𝐶(𝑞, 𝑞̇ )𝑒̇ + 𝐾𝑃 𝑒 = −𝐾𝐷 𝑒̇ − 𝐾𝐼 ∫𝑡 𝑒 𝑑𝑡 (5)
Length between the rotor centroid and the σ1 coordinates 0
𝐻
origin
III. EXPERIMENTS AND APPLICATIONS
Length between the σ2 coordinates origin and the σ1
𝐿0
coordinates origin
A. Experimental Control Platform

A 0-1 constant,
𝑘 𝑀𝑔𝑘𝐿0 = 𝑚𝑔𝐿0 + 𝑚𝑡𝑙𝑡 𝑔𝐿0 + 𝑚𝑤𝑧𝑗 𝑔𝑙2
Moment of inertia of the total IPS about X axis of the 𝜎
𝐽0
coordinates, 𝐽0 = 𝑚𝑡𝑙𝑡 𝐿0 2 + 𝑚𝐿0 2 + 𝑚𝑤𝑧𝑗 𝑙2

Moment of inertia of the two gyroscopic rotors about 𝑋𝐶

𝐽1 ，𝐽2
or Y𝑐 and Z𝐶 axis of the σ2 coordinates respectively.
Moment of inertia of the gyroscope body about 𝑋𝑏 , Y𝑏
𝐽3 ，𝐽4 ，𝐽5 and Z𝑏 axis of the σ1 coordinates respectively. 𝐽3 = 𝐽1 +
𝐽𝑡𝑥 + 𝑚𝐻 2 , 𝐽4 = 𝐽2 + 𝐽𝑡𝑦 , 𝐽5 = 𝐽1 + 𝑚𝐻 2 + 𝐽𝑡𝑧

Moment of inertia of the internal stent about 𝑋𝑏 , Y𝑏 and

𝐽𝑡𝑥 ，𝐽𝑡𝑦 ，𝐽𝑡𝑧
Z𝑏 axis of the σ1 coordinates respectively.
Moment of inertia of the external stent about 𝑋𝑏 , Y𝑏 and
𝐽𝑤𝑥 ，𝐽𝑤𝑦 ，𝐽𝑤𝑧
Z𝑏 axis of the σ1 coordinates respectively.

where Fig 4. Control structure of the new IPS

𝜏𝜙 𝜙 𝑀𝑔𝑘𝐿0 sin ϕ
𝜏 = [ 𝜏 ]; 𝑞 = [ ]; G = [ ]; Fig. 4 shows the control structure of the new IPS. The
𝜃 𝜃 0
control structure is composed of the PLC module, power
𝐽 + 𝐽3 cos 2 𝜃 + 𝐽4 sin2 𝜃 + 𝐽𝑤𝑥 0 module and driver module. The PLC module connects to the
𝐷(𝑞) = [ 0 ];
0 𝐽5 PC via J-link for programming and debugging, and realizes
𝑐11 𝑐12 1 the stabilizing device working properly. MPU6050 is a micro
𝐶(𝑞, 𝑞̇ ) = [𝑐 ̇
21 0 ]; 𝑐11 = 2 (𝐽4 − 𝐽3 )𝜃 sin 2𝜃; gyro sensor to measure the lean angle ϕ and angular velocity
1
of inverted pendulum system. And STM32F103C8 is the
𝑐12 = −𝑐21 = (𝐽4 − 𝐽3 )𝜙̇ sin 2θ + (𝐽2 − 𝑚𝐿0 𝐻) 𝜔cos θ. processor of controller. The power module provides the
2
required operating voltage of each module. Motor driver and
The matrix 𝐷(𝑞) is a positive definite matrix of inertia speed regulation compose the driver module. In order to
term, the matrix 𝐶(𝑞, 𝑞̇ ) denotes the centrifugal force and achieve a relative accurate control, an encoder is used to
Coriolis force term. The gravitational moment term of the measure the working status of the DC servo motor. The DC
new IPS is represented by the matrix 𝐺. servo motor takes the Maxon: RE25, which has a rated torque
Matrix 𝑞 is with respect to time 𝑡. Matrix 𝑞0 represents of 28.8 mNm connected to a gearbox with a reduction ratio of
the initial state of the new IPS at initial time 𝑡0 and is a 84:1. The Disc type brushless DC motor takes the DYS:
constant matrix. Under the assumption of 𝑞̇ 0 = 𝑞̈ 0 ≡ 0 and BE3608-630kv, which has a peak revolving speed of 10335
𝑒 = 𝑞0 − 𝑞 where 𝑒 denotes the tracking error, the equation rpm. Disc type brushless DC motor drives the gyroscopic
(2) could be turned into the following form: rotor in a stable high-speed rotation, and DC servo motor is
𝜏 = 𝐷(𝑞)𝑒̈ + 𝐶(𝑞, 𝑞̇ )𝑒̇ + 𝐺 (3) adopted to drive the precession of the gyroscopic rotor.
Table II gives the estimation of the structure parameters of
The PID control law based on gravitational compensation the IPS. The maximum torque produced by the GPE of the
𝐺̂ could be represented as follows: rotors reaches 7895.7 mNm, and is greater than the maximum
𝑡 estimation of gravitational torque, which is 7000 mNm. The
𝜏 = 𝐾𝑃 𝑒 + 𝐾𝐼 ∫𝑡 𝑒 𝑑𝑡 + 𝐾𝐷 𝑒̇ + 𝐺̂ (4) side balance control of the new IPS is simplified into the
0
control of the DC servo motor, and the speed of DC servo
where
motor is the actual control output. Through the transmission
mechanism, the DC servo motor speed transforms into the

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precession angular velocity 𝜔1 of the gyroscopic rotor. On control effect would be for the PID control algorithm. The
the basis of GPE, the lean angle 𝜙 of the new IPS is adjusted regulating phase represents the fine-tune time of the lean
by the effective torque, which is determined by the precession angle, so as to maintain stable equilibrium preferably. The
angle 𝜃 and the precession angular velocity. When lean angle phenomenon of the non-disturbance balance experiment
𝜙 changes in a small range near zero, the new IPS achieves indicates that the stabilizing device designed on the basis of
stable equilibrium. As expressed by the equation (5), PID GPE through PID control algorithm, is able to realize stable
control algorithm is adopted and control parameters are equilibrium. The experimental data are to be analyzed as
𝜙 𝜙 𝜙
𝐾𝑃 , 𝐾𝐼 , 𝐾𝐷 , 𝐾𝑃𝜃 , 𝐾𝐼𝜃 and 𝐾𝐷𝜃 . The initial values of the control follows.
parameters are determined by the results of simulation. By
constantly adjusting the values of the control parameters in
experiments, the observed curves of the control parameters
are consistent with the target curves commendably. Table III
shows a group of feasible values of the control parameters,
which realize the stable equilibrium of the new IPS
successfully.

TABLE II THE ESTIMATION OF THE STRUCTURE PARAMETERS

OF THE IPS (a)

Distance from Rotational Max Angular

Mass of Single
Center of Rotor to Speed of Speed of Rotor
Rotor (kg)
Ground (m) Rotor (rpm) Precession (rpm)
0.4 0.2 6000 120
Max deflection The moment of Mass of
Total mass of the
angle of rotor inertia of two gyroscopic
IPS (kg)
(rad) rotors (kg·m2) body (kg)
±(π/3) 1.0×10-3 1.8 3.5
(b)
TABLE III VALUES OF PID CONTROL PARAMETERS
𝜙 𝜙 𝜙
Parameters 𝐾𝐼 𝐾𝐷 𝐾𝑃𝜃 𝐾𝐼𝜃 𝐾𝐷𝜃 𝐾𝑃
Value 5 6 2 0.005 0.3 40

B. Non-disturbance Balance Experiment

The experiments of the stabilizing device can be divided
into two parts: non-disturbance balance experiment and
(c)
disturbance balance experiment. The non-disturbance balance
experiment is to validate the quick response and convergent
property of the new IPS. The robustness and the ability to
resist outside disturbance of the new IPS are clarified in the
disturbance balance experiment.

(d)
Fig 6. Response curves of non-disturbance balance experiment

Fig. 6 illustrates the response curves of lean angle 𝜙,

Fig 5. Process of non-disturbance balance experiment
Fig. 5 reveals the steer process of the new GPE stating
from a certain lean angle. It could be divided into four phases:
the initial phase (a), the oscillation phase (b), the regulating
phase (c) and the equilibrium phase (d).
The initial lean angle should not be set too large, generally
less than 20°, to prevent the balance control from failure. So it
is set at 17°in this experiment. The oscillation phase is a rapid
response period and the shorter time is required, the better
precession angle 𝜃 and their velocities in the non-disturbance
balance experiment. According to Fig. 6, after about four
oscillations with 1.6s, the curves of both angles turn to be
convergent and stable with small fluctuations, near zero. The
total process can be divided into four phases according to the
time. The initial phase is at 0s, oscillation phase is between
0~1.6s, regulating phase is between 1.6~3s and equilibrium
phase is after 3s. Fig. 6 (a) and (b) present the response curves
of lean angle and its velocity. The maximum oscillation
amplitude of 𝜙 is 6.27°and the fluctuation amplitude is 0.2°.
The larges value of its velocity is 54.7deg/sec at 0.62s, and
turns to 1.5deg/sec at equilibrium phase. The two curves
converge to zero rapidly after a brief oscillation phase,
clarifying the good convergence of the control system.

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Fluctuation of the curve within a small amplitude range while
it maintains stable equilibrium indicates excellent stability of
the control system. The response cure of precession angle is
showed at Fig. 6 (c). The maximum oscillation amplitude of 𝜃
is 30°and when at equilibrium phase, it turns to 0.5°. Fig.6 (d)
presents the comparison between the given theoretical control
curve and the response curve observed of the precession
angular velocity. By contrast, certain differences of phase and
amplitude are existed. The phase of the theoretical control
curve advances about 0.1s than the response curve observed,
due to the system response delay.
C. Disturbance Balance Experiment
The disturbance balance experiment presents that the new
IPS regains stable equilibrium from disequilibrium, after the
impact of outside disturbance. Derived from unicycle robot,
the new IPS would encounter inevitably numerous external
disturbances. So the disturbance balance experiment for the
new IPS is necessary. The process of the disturbance balance
experiment can be also divided into four phases: the initial
phase, the oscillation phase, the conditioning phase and the
equilibrium phase.
(a)
(b)
(c)
(d)
Fig 7. Response curves of disturbance balance experiment
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Fig. 7 shows the response curves of the lean angle ϕ, the
precession angle θ and their velocities in the disturbance
balance experiment. Each oscillation period of the curves
means once outside disturbance acts on the new IPS. The time
needed to regain stable equilibrium depends on the features of
disturbance, such as the force, the time and the position. But
the process still can be divided into the four phases as
mentioned above. In this experiment, there are five times
disturbances occurred at 3.2s, 4.5s, 10.2s, 17.3s and 20.5s
respectively.
Fig. 7 (a) and (b) present the response curves of the lean
angle 𝜙 and its velocity, respectively. The maximum
oscillation amplitude of 𝜙 is 3°, which means the disturbance
is bearable for the stabilizing device. It reveals that the
stabilizing device has an excellent anti-inference ability. In
Fig. 7 (b), the largest value of its velocity is 46.5deg/sec.
These two curves respond quickly and achieve convergence
after a short period of oscillation, which costs 0.5s, 1.4s, 1.1s,
1.5s and 1.5s respectively. It indicates that the stabilizing
device has an excellent regulating ability, and the new IPS
could regain stable equilibrium in a short time after a
disturbance. Fig. 7 (c) and (d) show the response curve of the
precession angle and the contrast between the response curve
observed and the given theoretical control curve of the
precession angular velocity. At Fig. 7 (c), the maximum
oscillation amplitude of θ is 26°. The precession angle
responds quickly and soon converges, but convergence point
varies in a small range and owns a zero drift. As same as the
non-disturbance balance experiment, there exists certain
differences of phase and amplitude between the given
theoretical control curve and the response curve, shown in
Fig.7 (d) . The phase of the theoretical control curve advances
about 0.1s than the response curve observed. In order to get a
better control effect, the values of control parameters should
be adjusted through multitudinous experiments.
Shown from the two experiments, the new IPS can bear
disturbances that can cause a lean angle less than 17°. So, the
stabilizing device based on GPE has a good regulating and
anti-inference ability to keep the new IPS stable equilibrium.
D. Application
Fig 8. Process of application to posture stabilization of bicycle vehicle
 Fig. 8 shows the application of the new IPS to posture
stabilization of bicycle vehicle. During the balance
experiments of non-disturbance and disturbance, the new IPS
does not move back and forth and thus the application of the
stabilizing device to posture stabilization of bicycle vehicle is
proposed. The structure of bicycle vehicle is composed of the
stabilizing device and a platform with two free wheels. The
bottom wheel of the original IPS is inoperative and the later
bicycle vehicle could still swing freely. Without the working
stabilizing device, the bicycle vehicle could not stand
steadily. The balance experiments are conducted on an
inclined floor platform.
(a)
(b)
Fig 9. Response curves of application to posture stabilization of bicycle
vehicle
Fig. 9 reveals the data analysis of the application, which
would not be illustrated in detail in order to avoid tautology.
In order to simulate the possible behaviors of the bicycle
vehicle under dynamic environment, three times disturbances
are introduce into the experiments, which cause the three
times oscillations shown in Fig. 9. As a result, the oscillation
amplitudes of lean angle and precession angle are less than 3°
and 23°, respectively. The results validated the high
efficiency and anti-interference of the new IPS device.
In the application, with the installation of stabilizing
device, the bicycle vehicle can maintain stable equilibrium
during traveling commendably which shows the stabilizing
device possesses good dynamic characteristics and extensive
practical application prospects.
IV. CONCLUSION
This paper presents a stabilizing device based on
gyroscopic precession effect and achieves stable equilibrium
of the new inverted pendulum system. The dynamical
equation and efficient PID control algorithm are proposed.
The balance experimental results of non-disturbance and
disturbance verify that the stabilizing device owns the
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characteristics of quick response, fast convergence, strong
regulation and certain anti-inference ability. Through the
application of the stabilizing device to posture stabilization of
bicycle vehicle, the dynamic regulating ability and practical
platform applicability of the stabilizing device were
validated.
However, for the sake of promoting and enhancing the
side balance control effect of the stabilizing device to adapt it
to some more complex environments, a lot of works still need
to be done.
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