Trajectory control for an autonomous bicycle with balancer

In this paper, we propose a new trajectory tracking and balancing control for an unmanned bicycle with a balancer using a simplified model. The bicycle with the balancer dynamics is derived from Lagrangian and nonholonomic constraints with respect to translation and rotation relative to the ground plane. The trajectory tracking control is derived by an input-output linearization approach and an output-zeroing control is applied to the balancer for balancing the bicycle. The proposed control algorithm is guaranteed to maintain bicycle stability even when the linear velocity is zero without requiring a secondary controller. Numerical simulation show the effectiveness of the proposed control system.