Abstract
Bicycle is a typical nonlinear and unstable system, and its mechanical properties and stability have been extensively studied. Aiming at the self-balancing problem in the driving process of the driverless bicycle, the bicycle structure and its motion characteristics are analyzed, and the bicycle dynamics model is established based on the theorem of the moment of momentum of the particle system and its stability is analyzed. Using the ADRC(ADRC: Active Disturbance Rejection Control) control method, real-time estimation of system input and output status information and internal and external disturbances are made through the extended state observer, and then the nonlinear error feedback controller is used to compensate the estimated disturbances in real time, and the designed controller is stabilized Proof of sex. The simulation results show that the designed controller can better track the target speed and effectively realize the attitude control of the unmanned bicycle.
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