Learning-Based Trajectory Tracking and Balance Control for Bicycle Robots With a Pendulum: A Gaussian Process Approach

This article presents a learning-based control framework for a class of underactuated bicycle robots with an active pendulum attached to the rear body as a balancer. In contrast with the extent methods that require the exact dynamic modeling, the proposed solution deals with the uncertainties, including the impacts of changing road environment, unmodeled dynamics, and external disturbances by virt...