Dynamic modeling based on routh equations and adaptive fuzzy controller design for the rectilinear motion of a front-wheel drive bicycle robot

A bicycle robot which can move straightly on its own is established in the paper. When moving with a constant speed, the bicycle can keep balancing by adjusting the frontbar only. The nonlinear dynamic model of bicycle robot is presented based on Routh method. The robot model is Simplified according to the state of bicycle robot. The roll angle and frontbar angle are taken as system generalized coordinates. The uncertain item which is not considered in the modeling process is approximated by adaptive fuzzy controller. The stability of the system is proved based on Lyapunov theorem. In order to reduce the chattering and enhance the robustness, the sliding mode and robust of the controller are designed. The parameters of the controller can be adjusted automatically. The validity of controller is verified by computer simulation based on Matlab. The result of the simulation show the efficiency of the dynamic model and the controller.