Oğuz, Yasin; Çetin, Gökhan; Ünker, Faruk

Two-wheeled gyroscopic robots are challenging to balance due to their intrinsic instability and sensitivity to external disturbances. This study proposes a hybrid control approach that combines a linear quadratic regulator (LQR) and a regression-based machine learning model to increase stability and adaptability. The regression model is trained with data collected from an LQR-controlled system to predict the optimal control responses under different conditions. The proposed approach utilizes state-space representation and the Jacobian linearization technique to design and simulate the robot’s performance under both controlled and random disturbance profiles. Simulation results indicate that the proposed method ensures steady motion even in dynamic, uncertain environments and increases resistance to external disturbances. Compared to the conventional LQR control method, the regression-enhanced model dynamically adjusts the control parameters, effectively reducing oscillations throughout the robot’s motion and achieving an average energy saving of approximately 80 %. These results demonstrate that robust, adaptive control in autonomous two-wheeled robotic systems can be achieved by fusing data-driven models with classical control techniques.

Ünker, Faruk

A special combined gyro-pendulum stabilizer (a gyroscope with coupling to a pendulum) mounted on a vibrating mass is considered for investigation of the vibration responses. This paper mainly focuses on the derivation of the frequency equations and on finding the required angular momentum for vibration control of the system. Besides, there is also an ANSYS simulation model of gyro-pendulum, which was built to verify the mathematical model. The dynamic responses of both that obtained from ANSYS simulation and that obtained from numerical solving of a Lagrangian mathematical model are analyzed comparatively. The angular momentum (ΩIp), in relation to the natural frequency (ωn) of the primary mass, shows that this vibration control device is more adaptable than other conventional ones by producing unidirectional thrust along the forcing excitation axis whilst the gyroscope is spinning.

Ünker, F.; Çuvalcı, O.

In this paper, a symmetric gyro with coupling to the tip mass of a beam mounted on a vibrating base is considered. Taking advantage of the angular momentum of the rotating gyroscope, gyrostabilizer systems are expected to become more widely actualized as they provide an effective means of motion control with several significant advantages for various structures. This paper mainly focused on finding optimized stiffness and damping values that minimize the vibration responses with the derivation of the frequency equations of a special combined gyro-beam system. Correctness of the analytical results is verified by numerical simulations. The comparison with the results from the derivation of the corresponding frequency equations shows that the optimized stiffness and damping values are very accurate.