Simulation and implementation of Bicycle Robot Control without Mechanical Auxiliary structure
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Bicycle is an efficient and environmentally friendly means of transportation. However, the dynamic characteristics of bicycle are more complex, from the point of view of control, it is an under driven unstable system. In order to realize the steady and straight driving of the bicycle robot, it demonstrated that the dynamic modeling and system simulation of the rear drive bicycle robot, which does not have the mechanical auxiliary structure and only depends on adjusting the handlebar to maintain the self-balance. In order to solve the problem that it is difficult to realize equilibrium control for bicycle robot systems with typical symmetry under driven nonholonomic constraints, the mechanical mechanism of the system analyzed based on LaGrange method, and a simplified dynamic model is established. The simulation and experimental results show that, the bicycle effectively realized. The linear motion self-balance control of robot lays the theoretical foundation for further carrying out the balance motion control of bicycle robot and other under-drive system.
No mechanical auxiliary structure Under drive system Dynamic modeling Fuzzy adaptive control