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A Robust Control Approach to Self-balancing Bicycles

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Advances in Engineering Research and Application (ICERA 2021)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 366))

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Abstract

The paper presents a robust control approach to self-balancing bikes (SBB) against unknown system parameters and external disturbances. The system is mechanically balanced by the momentum force produced by a flywheel. Initially, sliding mode control is employed for balancing the bike in roll motion and steering. Based on the designed control, a high-gain observer is developed to estimate the bike roll inertia momentum which is difficult to derive in practice. The stability of the overall system including estimated inertia momentum is given. Comprehensive simulations are performed to demonstrate the proposed control.

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Acknowledgement

This research is funded by Hanoi University of Science and Technology (HUST) under project number T2021-PC-001.

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Authors and Affiliations

  1. Hanoi University of Science and Technology, Hanoi, Vietnam

    Chung Nguyen Van, Duong Dinh Binh, Hien Nguyen Thi, Hieu Le Xuan, Mai Hoang Thi, Thu Nguyen Thanh, Van Anh Nguyen Thi & Tung Lam Nguyen

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  1. Chung Nguyen Van
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  2. Duong Dinh Binh
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  3. Hien Nguyen Thi
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  4. Hieu Le Xuan
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  5. Mai Hoang Thi
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  6. Thu Nguyen Thanh
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  7. Van Anh Nguyen Thi
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  8. Tung Lam Nguyen
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Corresponding author

Correspondence to Tung Lam Nguyen .

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Editors and Affiliations

  1. Faculty of Electronic Engineering, Thai Nguyen University of Technology, Thai Nguyen, Vietnam

    Duy Cuong Nguyen

  2. Faculty of Mechanical Engineering, Thai Nguyen University of Technology, Thai Nguyen, Vietnam

    Ngoc Pi Vu

  3. Vietnam Association for Science Editing, Hanoi University of Science and Technology, Hanoi, Vietnam

    Banh Tien Long

  4. Institute for Automation and Systems Engineering, Ilmenau University of Technology (IUT), Ilmenau, Germany

    Horst Puta

  5. Department of Computer Science and Automation, Ilmenau University of Technology (IUT), Ilmenau, Germany

    Kai-Uwe Sattler

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Van, C.N. et al. (2022). A Robust Control Approach to Self-balancing Bicycles. In: Nguyen, D.C., Vu, N.P., Long, B.T., Puta, H., Sattler, KU. (eds) Advances in Engineering Research and Application. ICERA 2021. Lecture Notes in Networks and Systems, vol 366. Springer, Cham. https://doi.org/10.1007/978-3-030-92574-1_1

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  • DOI: https://doi.org/10.1007/978-3-030-92574-1_1

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-92573-4

  • Online ISBN: 978-3-030-92574-1

  • eBook Packages: EngineeringEngineering (R0)

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