Controlling balancer and steering for bicycle stabilization


In this paper, we propose a control algorithm for stabilizing of an unmanned bicycle at zero speed by using a nonlinear control based on an output-zeroing controller. The simplified model of the bicycle with the balancer is derived from Lagrangian and nonholonomic constraints with respect to translation and rotation relative to the ground plane. We derived… (More)
DOI: 10.1109/IROS.2009.5353966

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