Static Balancing of Robotic Bicycle through Nonlinear Modeling and Control

In this paper we present a method that can balance a robotic bicycle at zero velocity. Based on our earlier work of nonlinear bicycle dynamic model, we developed a novel linearized dynamic equation near large steer angle. The newly developed linear equation is analyzed for its stability and a LQR controller is designed for balancing the robotic bicycle at zero velocity. We also built a prototype robotic bicycle to verify our design. Both theoretical work and experiment shows the robotic bicycle can achieve its balance at zero velocity with our LQR controller without using either fly-wheel or any other devices that provides roll torque.