I. I. Siller-Alcalá, J. U. Liceaga-Castro, R. A. Alcántara-Ramírez, S. Calzadilla-Ayala, "Using a Flywheel to Stabilize a Self-Balancing Bicycle," WSEAS Transactions on Systems and Control, vol. 19, pp. 73-84, 2024, DOI:10.37394/23203.2024.19.8
I. I. Siller-Alcalá, J. U. Liceaga-Castro, R. A. Alcántara-Ramírez, S. Calzadilla-Ayala. Using a Flywheel to Stabilize a Self-Balancing Bicycle.
WSEAS Transactions on Systems and Control. 2024;19:73-84. 10.37394/23203.2024.19.8
WSEAS Transactions on Systems and Control
Print ISSN: 1991-8763, E-ISSN: 2224-2856
Volume 19, 2024
Using a Flywheel to Stabilize a Self-Balancing Bicycle
Authors: , , ,
Abstract: The designs of two linear control systems approach to stabilize the balance of an unmanned bicycle system are presented. Both approaches are based on the use of a reaction wheel or flywheel to balance the bicycle. The two linear control approaches, based on the linearization of a nonlinear model obtained using Lagrange formalism, are the classic linear controllers, PID and State Feedback control. The performance of both controllers is verified by digital simulation and real-time experimental results.
Keywords:
Reaction Wheel, Balancing control, State feedback controller, Bicycle robot, Classic Control, PID
Pages: 73-84 WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 19, 2024, Art. #8 DOI: 10.37394/23203.2024.19.8
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