In this paper we present a method that can balance a robotic bicycle at zero velocity. Based on our earlier work of nonlinear bicycle dynamic model, we developed a novel linearized dynamic equation near large steer angle. The newly developed linear equation is analyzed for its stability and a LQR controller is designed for balancing the robotic bicycle at zero velocity. We also built a prototype robotic bicycle to verify our design. Both theoretical work and experiment shows the robotic bicycle can achieve its balance at zero velocity with our LQR controller without using either fly-wheel or any other devices that provides roll torque.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Static Balancing of Robotic Bicycle through Nonlinear Modeling and Control


    Contributors:
    Xiong, C. (author) / Huang, Z. (author) / Gu, W. (author) / Pan, Q. (author) / Liu, Y. (author) / Li, X. (author) / Wang, E. X. (author)


    Publication date :

    2018-11-01


    Size :

    384931 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Control of a Robotic Bicycle

    Bravo M., Diego A. / Rengifo R., Carlos F. / Diaz O., James F. | IEEE | 2018


    Novel bicycle self-balancing control system

    ZHANG SHENGTIAN | European Patent Office | 2021

    Free access

    Electric bicycle balancing device and electric bicycle

    LIAN ZHIGANG / ZHANG TIPENG / LI CHUNTING | European Patent Office | 2020

    Free access

    Electric bicycle balancing method and electric bicycle

    NING HONGTAO | European Patent Office | 2023

    Free access

    Self-balancing unmanned bicycle

    HAN ZHILIN / LIAN DI | European Patent Office | 2022

    Free access