An Integrated Stationary/Moving Balance Control of an Autonomous Bikebot

Dynamics and balance control of autonomous bikebots are different for stationary (i.e., zero moving speed) and moving cases. We present an integrated stationary/moving balance control design for an autonomous bikebot. We first describe the stationary and moving balance control of bikebot. Domains of attraction of the closed-loop systems for the stationary and moving balance control are analyzed and an integrated control design is then presented to guarantee the stability of transition between these two controllers. We finally present experimental results to demonstrate the control systems design from stationary to moving and to stopping tasks.

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