Modelling and control of the motion of a riderless bicycle rolling on a moving plane

This work deals with the modelling and control of a riderless bicycle rolling on a moving plane. 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. In particular, a kinematic model of the bicycle’s motion is derived by using its dynamic model. Then, using this kinematic model, the expressions for the applied torques are obtained.