A kind of bicycle robot dynamic modeling and nonlinear control

The bicycle robot is a natural unstable nonlinear system. Its inherent nonlinear and deeply coupling characters of bicycle robot make the problem of control it much more difficult. Taking the steering torque and the driving torque of rear wheel as system inputs, the goal of bicycle robot self balanc...

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Bibliographic Details
Published in2010 International Conference on Information and Automation pp. 1613 - 1617
Main Authors Lei Guo, Qizheng Liao, Shimin Wei, Yonghua Huang
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2010
Subjects
accurate linearization
bicycle robot
Bicycles
Computer simulation
Couplings
dynamic model
Lagrangian functions
MIMO affine nonlinear system
Mobile robots
Nonlinear dynamical systems
Nonlinear systems
Robot kinematics
Torque
Wheels
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ISBN1424457017
9781424457014
DOI10.1109/ICINFA.2010.5512251

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Summary:The bicycle robot is a natural unstable nonlinear system. Its inherent nonlinear and deeply coupling characters of bicycle robot make the problem of control it much more difficult. Taking the steering torque and the driving torque of rear wheel as system inputs, the goal of bicycle robot self balancing was achieved. The rolling angle and the steering angle were taken as system generalized coordinates. A kind of two-input and two-output nonlinear dynamic model of the bicycle robot was presented based on Lagrange method. A multi-input and multi-output affine nonlinear system was presented to describe the dynamic model. And the input-output exactitude linearization theory was applied to analyze the affine nonlinear system. Then a control algorithm was proposed to achieve the goal of decoupling and accurate linearization. Computer simulation verified the validity of the dynamic model. The effect of the controller is testified by simulation experiments.
ISBN:1424457017
9781424457014
DOI:10.1109/ICINFA.2010.5512251