Nonlinear stabilization of bicycle robot steering control system

Taking the steering torque as the input of system, a kind of steering control single-input single-output dynamic model for bicycle robot is presented based on Lagrange method. The nonlinear dynamic model was described as a SISO affine nonlinear system. Then the system was represented into the standard Byres-Isidori standard form base on the diffeomorphism transform theory. The system described with Byres-Isidori standard form has a non-minimum-phase zero dynamic subsystem. And the control algorithm was presented to stable the zero dynamic subsystem based on the central manifold theorem. Then the stabilization controller was designed to achieve the goal of decoupling and linearization based on feedback linearization. The computer simulation results show the efficiency of the control algorithm. It is practical for the real bicycle robot experiments in future.