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In this paper, the balance control of an unmanned bicycle system is presented. A reaction wheel or flywheel is used to control the balance of the bicycle. Two linear control approaches are applied. Based on the linearization of a nonlinear model, obtained using Lagrange formalism, two classic linear controllers are designed: a PID controller and a state feedback controller. The performance of both controllers is verified by simulation and experimental results.

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State Feedback Controller of a Self-Balancing Bicycle

  • 章节

  • 发表日期：

    2025年

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  • I. I. Siller-alcalá,
  • J. U. Liceaga-Castro,
  • R. A. Alcántara-ramírez,
  • S. Calzadilla-Ayala

摘要

In this paper, the balance control of an unmanned bicycle system is presented. A reaction wheel or flywheel is used to control the balance of the bicycle. Two linear control approaches are applied. Based on the linearization of a nonlinear model, obtained using Lagrange formalism, two classic linear controllers are designed: a PID controller and a state feedback controller. The performance of both controllers is verified by simulation and experimental results.