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 balancing was achieved. The rolling angle and the steering angle were taken as system generalized coordinates. A kind of two-input and twooutput nonlinear dynamic model of the bicycle robot was presented based on Lagrange method. A multi-input and multioutput 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.
bicycle robot dynamic model MIMO affine nonlinear system accurate linearization
Lei Guo Qizheng Liao Shimin Wei Yonghua Huang
School of Automation Beijing University of Posts and Telecommunications Haidian district,Beijing,China
国际会议
2010 IEEE信息与自动化国际会议(ICIA 2010)
哈尔滨
英文
1-5
2010-06-20（万方平台首次上网日期，不代表论文的发表时间）