Simulation of Motorcycle Balance Control Using Scissored-Paired Control Moment Gyroscopes

This paper presents a novel motorcycle stabilization system using scissor-paired Control Moment Gyroscopes (CMGs). We propose a control solution that doesn't require full vehicle dynamics, including speed and steering, but instead relies on a simplified CMG inverted pendulum model. This approach eliminates the need for complex full-vehicle equations. We introduce an LQR controller with Equilibrium Offset Com-pensation and a Centrifugal Force Adaptive Lean algorithm for stability management. To validate our approach, we develop a detailed Multibody Simulink model that accurately represents a real vehicle, serving as a comprehensive testbed for our control algorithms and model correctness.