Controlling balancer and steering for bicycle stabilization

In this paper, we propose a control algorithm for stabilizing of an unmanned bicycle at zero speed by using a nonlinear control based on an output-zeroing controller. The simplified model of the bicycle with the balancer is derived from Lagrangian and nonholonomic constraints with respect to translation and rotation relative to the ground plane. We derived a controller using a steering torque and a balancer torque to stabilize the bicycle at zero linear velocity. The output-zeroing controller is designed by using the angular momentum of two-link system and by adding the effect of steering angle to the derivative of the angular momentum. Numerical simulation and experimental results are shown to verify the effectiveness of the proposed control strategy.