In this paper we present the dynamic model of a bicycle with a balancer and its balancing control. A new configuration balancer that it can be used as a balancer or a flywheel by shifting the center of gravity of the balancer is also presented. This balancer configuration is changed according to the situation of the bicycle system, which corresponds to the change of the dimension of the system. Stabilizing bicycle with the flywheel has better performance than the balancer but it cannot control to shift the bicycle angle to track the desired value, unlike the balancer which can do this motion. The balancer is configured as a flywheel, when disturbances to the system are large, and it will switch to the balancer when we want to shift the bicycle body angle. The simplified model of the bicycle with the balancer is derived from Lagrangian and nonholonomic constraints with respect to translation and rotation relative to the ground plane. The balancing control is derived based on the output-zeroing controller. Numerical simulation and experimental results are shown to verify the effectiveness of the proposed control strategy. (Author/publisher) For this paper, other papers and posters presented at this Symposium see http://bicycle.tudelft.nl/bmd2010/
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