Steering control based balancing of a bicycle robot

Presented in this proposed approach is to introduce the technique that integrates the mathematical models of bicycle and motor. In the process, the mathematical model that contains the physical behaviors of bicycle (implied to the form of lean angle or roll angle) is defined first, and then the formula of motor (or steering angle of bicycle) is determined. Next, these two models are combined to form a new model which can be proven its performance by the controlled algorithm called LQR. This algorithm provides the optimal gains for state of bicycle and motor in opposite sign where the control signal is generated by weighting the value between state of bicycle and state of motor. Using this new model can reduce the steps required in the conventional controlling process where the step of identifying the steering angle is ignored.