Estudio de la Dinámica y Control de una Bicicleta Robótica

Authors

  • Diego Alberto Bravo Universidad del Cauca, Colombia
  • Carlos Felipe Rengifo Universidad del Cauca

DOI:

https://doi.org/10.31349/RevMexFisE.17.62

Keywords:

Enseñanza, Ecuación de Lagrange, Sistemas Dinámicos, Simulación.

Abstract

In this paper, a kinematic and dynamic model study of a robotic bicycle (Arduino Engineering Kit) is carried out to develop control algorithms for the automatic stabilization of the bicycle. The mathematical model of the bicycle is shown by the Euler-Lagrange formulation. This model allows the design and implementation of two control strategies to ensure automatic balance. The study of this dynamic system is presented as an excellent opportunity to integrate the skills acquired by students in subjects such as physics, programming, and mathematics with the purpose of designing, modeling, and controlling dynamic systems.

Author Biographies

Diego Alberto Bravo, Universidad del Cauca, Colombia

Departamento de Física. Profesor Titular

Carlos Felipe Rengifo, Universidad del Cauca

Departamento de Electrónica, Instrumentación y Control

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Published

2020-01-28

How to Cite

[1]
D. A. Bravo and C. F. Rengifo, “Estudio de la Dinámica y Control de una Bicicleta Robótica”, Rev. Mex. Fis. E, vol. 17, no. 1 Jan-Jun, pp. 62–68, Jan. 2020.

Issue

Vol. 17 No. 1 Jan-Jun (2020): Revista Mexicana de Física E

Section

02 Education in Physics

License

Copyright (c) 2020 Diego Alberto Bravo, Carlos Felipe Rengifo

Creative Commons License

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Authors retain copyright and grant the Revista Mexicana de Física E right of first publication with the work simultaneously licensed under a CC BY-NC-ND 4.0 that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.