Balance Control of Unmanned Motorcycle Without Self-Balancing Auxiliary Device Based on LADRC

Motorcycles, renowned for their ease of operation and superior passability, have emerged as a primary mode of transportation in numerous regions.However, their inherent difficulty in maintaining stability at rest or at low speeds is a problem that needs to be studied in depth, especially in the field of driverless motorcycles. To address this challenge and facilitate autonomous motorcycle operation, this study meticu-lously designed a comprehensive data acquisition and control system. In addition, the lateral force in the driving process of the unmanned motorcycle is studied in detail, and the rolling dynamics model of the unmanned motorcycle is established. By using this model, a linear active disturbance rejection con-troller(LADRC) is designed. By controlling the steering angular speed of the handlebars, the autonomous motorcycle can still control stably under the condition of changing driving conditions without self-balancing auxiliary device. To validate the efficacy of our proposed control scheme, rigorous simulations were conducted, demonstrating its potential. Subsequently, real-world experiments on an outdoor grass field further substantiated the feasibility of our data acquisition and control system, as well as the robustness of the controller under varied environmental conditions.