Stability analysis and autonomous stabilization control of a bicycle based on a three dimensional detailed physical model
The purpose of this study is analysis and control of a bicycle based on the proposed thee dimensional physical model. There are errors between models and actual equipment because conventional models have not captured the three dimensional dynamics accurately in previous studies on a bicycle. For the problem, we have derived three dimensional physics model, analyzed structure of, and designed controller for self stabilization of a bicycle. In conclusion, parameters of a bicycle enhancing stability are calculated. Furthermore, the controller based on the proposed model is effective for attitude stabilization of a bicycle during low speed riding.
IECON 2016 42nd Annual Conference of the IEEE Industrial Electronics Society