The designs of two linear control systems approach to stabilize the balance of an unmanned bicycle system are presented. Both approaches are based on the use of a reaction wheel or flywheel to balance the bicycle. The two linear control approaches, based on the linearization of a nonlinear model obtained using Lagrange formalism, are the classic linear controllers, PID and State Feedback control. The performance of both controllers is verified by digital simulation and real-time experimental results.
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Siller-Alcalá et al. (2024) studied this question.
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