A control strategy for rectilinear motion of a front-wheel drive bicycle robot

This paper describes a method for approximate linearization of nonlinear systems, a method based on the Jacobian matrix of Taylor series expansion, which is used to handle the nonlinear mechanical model of rectilinear motion of the front-wheel drive bicycle, and then a linear model is achieved. And based on this model and the partial feedback linearization method, a controller is designed to simulate the rectilinear motion of the front-wheel drive bicycle robot. The result of this simulation shows that the controller has a good effect on the dip of the bicycle, upon which the rectilinear motion of the bicycle robot can be realized.