Development of a Two-Wheel Steering Unmanned Bicycle: Simulation and Experimental Study*

In this paper, a modeling and control framework of the two-wheel steering unmanned bicycle is presented. We first build the dynamic model of the unmanned bicycle using Lagrange method. And then balance controllers for stationary and moving cases are designed. Simulation results show that the stationary bicycle can keep balance only by the swinging balancer, and the linear quadratic regulator (LQR) controller for moving case works well. Our experimental results about LQR controller are also given.