Abstract

MORALES CORRAL, Camilo; ROCHA MORELOS, Daniela Oralia; SOTO MARRUFO, Israel  and  BENITEZ GONZALEZ, Ivón Oristela. Balancing control of an autonomous bicycle using a reaction wheel. Rev cuba cienc informat [online]. 2019, vol.13, n.4, pp.30-42. ISSN 2227-1899.

One of the most used prototypes for teaching strategies of modern control are the inverted pendulums: inverted pendulum, pendulum car, pendulum with inertial wheel or reaction wheel, etc. On this paper, was presented the balancing control of an autonomous motorcycle, the controlled was develop using the pole placement design methodology, which requires the linearized system movement equations that are also presented in this work. The simulation and experimental results allow to conclude that the controller design is optimal.

Keywords : self-balancing motorcycle; controllability; Arduino.

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