Self-balance Control of Bicycle with Inertial Wheel Pendulum based on Linear ADRC

In this paper, the problem of self-balancing control of an unmanned bicycle with an Inertial Wheel Pendulum (IWP) under external disturbances and incomplete modeling is investigated. The unmanned bicycle system is simplified and modelled as an inverted pendulum via the Lagrangian method. In order to maintain the stability of the unmanned bicycle in the vertical direction and realize the self-balancing control, a control method based on Linear Active Disturbance Rejection Control (LADRC) is presented and compared with a PID controller. To verify the performance of the proposed methods, simulation experiments are conducted on the ROS-Gazebo platform, which is used to simulate a system with the real physical characteristics. Comparison simulations with Proportional-Integral-Derivative (PID) controller are also executed. The results show that the unmanned bicycle system based on the LADRC controller can achieve a better self-balancing performance and is robust to external disturbances and modelling error.