Stabilizing of bike robot with variable configured balancer

In this paper, an application of closed loop identification and controller design of LPV system for unmanned bicycle system with a variable configured balancer is presented. The balancer can be configured as a flywheel mode or a balancer mode by shifting a center of gravity of the balancer according to the situation of the bicycle system. LPV system with choosing its balancer length as a scheduling parameter is defined from LTI systems obtained by identification experiments with several balancer length. LTI systems can be identified from input-output data with adding some disturbance because the bicycle system has been stabilized with an Output-Zeroing controller and the closed loop seems to be stable. The controller for the LPV system which makes the system quadratic LPV stable is designed and numerical simulation result is shown to verify the effectiveness of the proposed control strategy.