Design of Motion Controller for Bicycle Robot Based on DFL Nonlinear Control Method

The DFL (direct feedback linearization) method was applied to the bicycle robot nonlinear system. The dynamic model of the bicycle robot was presented based on Lagrange method. Then the dynamic model of the mechanical system is described as a SISO (single-input single-output) affine nonlinear system. The DFL compensation algorithm was presented. The poles of the equivalent linear model were placed with the method of state feedback. And the Philips LPC2104 MCU (micro controller unit) was employed as the kernel of the robot motion controller. The program of MCU was written to realize the DFL algorithm and the state feedback law. Simulation results show the efficiency of the control algorithm. The effect of the controller is verified by experiments.