Using a Flywheel to Stabilize a Self-Balancing Bicycle
Author:
Siller-Alcalá I. I.1, Liceaga-Castro J. U.1, Alcántara-Ramírez R. A.1, Calzadilla-Ayala S.1
Affiliation:
1. Departamento de Electrónica, Área de Control de Procesos, Universidad Autónoma Metropolitana, Av. San Pablo No. 180, Col. Reynosa Tamaulipas, Del. Azcapotzalco, C. P.0200, México D.F., MÉXICO
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.
Publisher
World Scientific and Engineering Academy and Society (WSEAS)
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