Control and Realization for Rectilinear Motion of a Front-Wheel Drive Bicycle Robot

Abstract

Dynamic model for a front-wheel drive bicycle robot free from regulator weight was presented and balanced controller for rectilinear motion was investigated.By analyzing the turning radius of the robot,kinetic energy were derived with the driving angle velocities of front-wheel and front bar,and then the dynamic model was established based on Lagrange formulation.The balance controller for rectilinear motion was constructed by linearizing front-wheel and front-bar input angle and considering the under-actuated frame rolling angle as the internal dynamics.Simulation result shows the effectiveness of the proposed controller.Physical experiment result further verifies that the proposed controller can realize rectilinear motion with reasonable driving torque.