Development of a two-wheel steering unmanned bicycle: Simulation and experimental study

Zenghao Wang, Yanhui Wang, Bolun Zhang, Guangli Wang, Tao Liu, Jingang Yi, Meimei Han

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, a modeling and control framework of the two-wheel steering unmanned bicycle is presented. We first build the dynamic model of the unmanned bicycle using Lagrange method. And then balance controllers for stationary and moving cases are designed. Simulation results show that the stationary bicycle can keep balance only by the swinging balancer, and the linear quadratic regulator (LQR) controller for moving case works well. Our experimental results about LQR controller are also given.

Original languageEnglish (US)
Title of host publication2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages119-124
Number of pages6
ISBN (Electronic)9781728167947
DOIs
StatePublished - Jul 2020
Event2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020 - Boston, United States
Duration: Jul 6 2020Jul 9 2020

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2020-July

Conference

Conference2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
Country/TerritoryUnited States
CityBoston
Period7/6/207/9/20

All Science Journal Classification (ASJC) codes

  • Software
  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications

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