The derivation of a kinematic model from the dynamic model of the motion of a riderless bicycle

This work deals with the modelling and control of a riderless bicycle (see Figure 1). 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 bicycleʹs motion is derived by using its dynamic model. Then, using this kinematic model, a constraint point-to-point control problem is dealt with.