Research on the Lateral Balance Control of a Bicycle Robot

In this paper, we focus on a bicycle robot, and discussed the topic how to keep the robot's lateral balance by steering. Firstly, we proposed a dynamical model for the robot by Chaplygin Equation. The proposed model suggests that there should be 3 independent general velocities and 2 driving torques in the system. With the model, we presents a controller for regulating the lateral rolling angle of the bicycle robot by using Global Terminal Sliding Mode Control methodology. As a summary, by taking into account the disturbance of the leaning angle of the frame and the driving velocity of the actuated front-wheel, numerical simulations were seriously performed in Matlab/Simulink, and the results validate the correctness of our dynamical model and the effectiveness of our control algorithm.