Model predictive control design approach for autonomous bicycle kinematics stabilization

In this paper, we propose a model predictive control (MPC) approach for controlling the autonomous bicycle kinematics to stabilize the bicycle steer and roll angles. The dynamical model is the so-called `Whipples Bicycle Model´, where the roll (lean) angle and the steer angle of the bicycle are the two outputs of the model and the torques across the roll and steer angle as the two control variables. The autonomous bicycle was tested for varying velocities.