PD Controller for Bicycle Model Balancing

PD Controller for Bicycle Model Balancing

Blog Article

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 Container Set 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, Queen Platform Base PD controller is proved to stabilize bicycle well.