ROBOTICA & MANAGEMENT - Vol. 23, No. 2, December 2018, pp. 37-41
 

Abstract: Bicycle is a conventional vehicle and it cannot self-balance. An equivalent model is required to be supplied in order to base a control structure for this under-actuated system. Thence, in this paper, authors infer a balancing model of bicycle which is based on re-action wheel pendulum (body of the model can be regarded as a pendulum). PD controller, a popular linear control method, is examined for this model. A structure of this control method is designed for this under-actuated system. Then, through trial and error test, a set of control parameters are selected.  In both simulation and experiment, PD controller is proved to stabilize bicycle well.
Keywords: Re-action wheel pendulum, bicycle, self-balance, PD controller, under-actuated system, linear control.

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