Modeling And Sliding Model Control For Bicycle Robot

The bicycle robot is a natural unstable nonlinear system. It has the characters ofstatic instability and dynamic stability. And the inherent nonlinear and deeply couplingcharacters of bicycle robot make the control of it much more difficult. The bicycle robotdynamic modeling and control is a difficult problem in robotics. To solve this problem,this study uses the method of modeling, controller designing and simulating，focusingon the issues of balance control of bicycle robot.Firstly, a kind of steering control single-input single-output dynamic model forbicycle robot is presented based on Lagrange method. A linear system was presentedbased on the approximate linearization method. Taking into account the factors ofbicycle speed of affecting the body posture, and taking the steering torque and thedriving torque of rear wheel as system inputs, a kind of dynamic model was presentedbased on Lagrange method.Secondly, switching controller and the proportional constant switching controllerwas designed for the single-input single-output linear system. And the Terminal slidingmode controller was designed for the bicycle robot of two input two output nonlineardynamic model.Simulation results show that the switching controller and the proportion ofswitching controller with global stability, Terminal sliding mode controller not onlyreduce buffeting but also ensure fast system response,racking error can converge tozero within a finite time. Which can more effectively achieve the bicycle robot stabilitycontrol.