Control of bicycle robot using input-output linearization
Corressponding author's email:
nghia.duong@eiu.edu.vnKeywords:
Bicycle robot, MIMO system, input-output linearization, PD controller, first-order compensatorAbstract
The paper proposes a control system for bicycle robots based on input-output linearization method. Bicycle robot is a nonlinear, MIMO (multi-input multi-output) system. Its two inputs are the steering torque and kinetic energy. Its two outputs are the steering angle and the rolling angle. Firstly, input-output linearization control law linearizes and decouples the plant into single input-single output systems. Then the PD (proportional derivative) controller and first-order linear compensator are used to control these single input-single output systems. Finally, simulation results show that the control system had good performance, such as short settling time and small percentage of overshoot. Further, simulation results show that the control system is robust against variations in the parameters of the plant, such as the mass and the center of gravity. Two output signals are controlled independently.
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