Systematic multi-loop control for autonomous bicycle path following

In this paper the problem of simultaneously stabilizing a bicycle and following a path is investigated. Based on a bicycle model that has been experimentally validated, we develop a systematic multi-loop approach using linear control techniques, treating lean torque and steer torque as the control signals. We prove asymptotic convergence to paths of constant curvature; this result is confirmed with simulations of a bicycle tracking a straight line, a circle, and a path constructed from constant-curvature elements.