Nonlinear Balance Control of an Unmanned Bicycle: Design and Experiments
Leilei Cui,Shuai Wang,Jie Lai,Xiangyu Chen,Sicheng Yang,Zhengyou Zhang,Zhong-Ping Jiang,Leilei Cui,Shuai Wang,Jie Lai,Xiangyu Chen,Sicheng Yang,Zhengyou Zhang,Zhong-Ping Jiang
In this paper, nonlinear control techniques are exploited to balance an unmanned bicycle with enlarged stability domain. We consider two cases. For the first case when the autonomous bicycle is balanced by the flywheel, the steering angle is set to zero, and the torque of the flywheel is used as the control input. The controller is designed based on the Interconnection and Damping Assignment Passi...
