Stabilization and control of the motion of an autonomous bicycle by using a rotor for the tilting moment Original Research Article

This work deals with the stabilization and control of a riderless bicycle. It is assumed here that the bicycle is controlled by a pedalling torque, a directional torque and by a rotor mounted on the crossbar that generates a tilting torque. A kind of an inverse control strategy is proposed under which the motion of the bicycle is stabilized and its rear wheel is able asymptotically to track any given smooth ground trajectory