Dynamic Modeling of Bicycle Robot and Nonlinear Control Based on Feedback Linearization of MIMO Systems

Abstract

A kind of dynamic model of bicycle robot was built based on the lagrange method. To keep bicycle self-balance,the steering angle,the roll-angle and the rear wheel velocity were taken as system outputs;the steering,mass balancing and rear-wheel toque were taken as inputs.Therefore,a multi-input and multi-output(MIMO) affine nonlinear system was constructed.Then input-output linearization control theory was applied to analyze the affine nonlinear system,so that the equal linear system was achieved by exact linearization.By analysis of the equal linear system and state feedback method,the desired pole locations were realized.Computer simulations verified the validity of the control algorithm.