PD Controller for Bicycle Model Balancing

Abstract

Bicycle is a conventional vehicle and it cannot self-balance. An equivalent model is required to be supplied in order to base a control structure for this under-actuated system. Thence, in this paper, authors infer a balancing model of bicycle which is based on re-action wheel pendulum (body of the model can be regarded as a pendulum). PD controller, a popular linear control method, is examined for this model. A structure of this control method is designed for this under-actuated system. Then, through trial and error test, a set of control parameters are selected. In both simulation and experiment, PD controller is proved to stabilize bicycle well.

Keywords

• Re-action wheel pendulum
• bicycle
• self-balance
• PD controller
• under-actuated system
• linear control