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

doi:10.13190/jbupt.200701.80.guol

JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM ›› 2007, Vol. 30 ›› Issue (1): 80-84.doi: 10.13190/jbupt.200701.80.guol

• Reports • Previous Articles Next Articles

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

GUO Lei, LIAO Qi-zheng, WEI Shi-min

School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China

Received:2006-03-06 Revised:1900-01-01 Online:2007-03-30 Published:2007-03-30
Contact: GUO Lei

Abstract

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.

Key words: bicycle robot, dynamic model, multi-input and multi-output affine nonlinear system, input-output linearization

CLC Number:

TP273

GUO Lei, LIAO Qi-zheng, WEI Shi-min. Dynamic Modeling of Bicycle Robot and Nonlinear Control Based on Feedback Linearization of MIMO Systems[J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 2007, 30(1): 80-84.

References

[1] Neil H G. Internal equilibrium control of a bicycle[C]// Proceedings of the 34th Conference on Decision & Control. New Orieans: IEEE, 1995:4285-4287.
[2] Jette Randl?v. Learning to drive a bicycle using reinforcement learning and shaping[C]// Proceedings of the 15th International Conference on Machine Learning. Madison: [s.n.], 1998:463-471.
[3] Ham. Self stabilizing strategy in tracking control of unmanned electric bicycle with mass balance[C]// Proceedings of the 2002 IEEE/RSJ Conference on Intelligent Robots and Systems. Switzerland: IEEE, 2002:2200-2205.
[4] Shashikanth Suryanrayanan, Masayoshi Tomizula, Matt Weaver. System dynamics and control of bicycles at high speeds[C]// Proceedings of the American Control Conference. Anchorage: IEEE, 2002:845-850.
[5] Yasuhito Tanaka, Toshiyuki Murakami. Self sustaining bicycle robot with steering controller[C]// The 8th IEEE International Workshop on Advanced Motion Control. Kawasaki: IEEE, 2004:193-197.
[6] Karl J. ?str?m, Richard E. Klein, Anders Lennartsson. Bicycle dynamics and control[J]. IEEE Control Systems Magazine, 2005, 25(4):26-47.
[7] 韩林，廖启征，梁崇高．输入输出为柔顺杆的四杆机构静力逆分析[J].北京邮电大学学报,1998, 21 (1):12-17.
Han Lin, Liao Qizheng, Liang Chonggao. The inverse static force analysis of four-bar mechanism with complaint input and output links[J]. Journal of Beijing University of Posts and Telecommunications, 1998, 21 (1):12-17.
[8] 王品，廖启征，魏世民，等．一种9杆巴氏桁架位置分析的研究[J]．北京邮电大学学报,2006,29(3):12-16.
Wang pin, Liao Qizheng, Wei Shimin, et al. Research on displacement analysis of a kind of nine-link barranov truss[J]. Journal of Beijing University of Posts and Telecommunications, 2006, 29(3):12-16.

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

PDF

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 3

Recommended Articles

Metrics

Comments

[1]	. Control and realization for the rectilinear motion of a front-wheel drive bicycle robot [J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 2012, 35(3): 65-69.
[2]	. Modeling and Realization of Track Stand Motion for a Bicycle Robot with Front Wheel Drive [J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 2012, 35(2): 5-9.
[3]	LAN Xiao-juan; JIA Qing-xuan; SUN Han-xu. Principle and Dynamic Analysis of a NewType  Spherical Underwater Vehicle [J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 2010, 33(3): 20-23.