Constant-velocity steering control design for unmanned bicycles

Compared to unmanned cars, unmanned bicycles have the inherent problem of keeping balance. This paper proposes the design of a steering controller to achieve the balance control of bicycles when the forward velocity remains constant, bringing us closer to the autonomous driving of unmanned bicycles. Firstly, we introduce the modeling of the bicycle dynamics. Then, we design the constant-velocity steering controller, combining feedback with feedforward control, and verify the effectiveness of the controller using Matlab simulations. Finally, we proceed to test the steering controller on our prototype bicycle, finding that the bicycle can achieve stable motion and turning with flexibility, thus proving the effectiveness of our steering controller design.