ROBUST BALANCE CONTROL OF TWO-WHEELED BICYCLES A COMPARATIVE STUDY OF H∞ LOOP SHAPING AND PID APPROACHES

Engineering

This paper presents the design, dynamic analysis, and control of an experimental self-balancing two-wheeled bicycle prototype (STWB). To address the system's inherent underactuation and susceptibility to disturbances, a reaction-wheel mechanism is employed to maintain upright equilibrium. Furthermore, a robust H∞ loop-shaping controller is synthesized to explicitly mitigate parametric uncertainties and measurement noise. Comparative simulations demonstrate that the proposed H∞ approach maintains robust closed-loop stability under severe parameter variations, outperforming conventional PID control which fails under identical conditions. Finally, hardware experiments corroborate the practical efficacy and robust performance of the proposed control architecture.

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