Dynamics And Preview Control Of A Robotics Bicycle

This paper presents the dynamic model of the Arduino Engineering Kit robotics bicycle. We design and implement a closed loop control strategy (preview control), that minimizes the tracking error and rejects disturbances generated by uncertainties and unmodeled dynamics. The preview control is a servo controller that permits the tracking of desired trajectories in the handlebar, maintaining the stability of the bicycle. Finally, we tested the proposed control strategy on a real robotic bicycle prototype.