2P2-E25 Automatic Control of Bicycle with Balancer : Experimental Validation

Abstract

In this paper, we propose a motorbike system with balancer and a basic balancing control method for the system. And we extend the method from the experimental point of view. For the basic balancing control law, input-output linearization is applied to the system and to overcomeuncertainties, we apply a robust controller to the linearized system. By experimental tests, it is shown that the stability of the stopping motorbike is ensured and the running on a straight line is realized with the proposed method.