Model Analysis of Unmanned Bicycle and Variable Gain LQR Control

As a typical nonlinear unstable system, bicycle has been widely studied for its mechanical properties and stability.The self-balance problem of the unmanned bicycle is studied and the dynamics model of unmanned bicycle was established and the stability of the system is analyzed based on the analysis about bicycle structure and motion characteristics. The real-time feedback gain matrix K is obtained by utilizing variable gain LQR control method and resolving the Riccati equation online. The real-time feedback gain matrix K changes with the speed of the bicycle and the unmanned bicycle is stabilized at upright position by controlling the rotation angle of the front fork. The simulation and experiments demonstrate that the present control scheme is effective. The results show that the variable gain LQR controller be of better stability and more reliable performance than classical LQR controller.