Dynamic model of the bicycle robot is made by using method based on Lagrangian, which can realize non-linear
under-actuated system of bicycle robot stable by using stable sliding-mode method control. In this method, each variable
which is gotten from every subsystem’s state variables combines an interim variable. Then one sliding mode function is
constructed according to the interim variable. By using the sliding mode control method, the total control law can be
obtained, which guarantees that the equilibrium point is reachable in finite time. Then the system’s state variables converge
to equilibrium field. The stability of bicycle robot can be guaranteed by using this method and is verified in the simulation
experiment.