Tilting motion control in narrow tilting vehicle using double-loop PID controller

This paper presents an electric narrow tilting vehicle (NTV), which is named intelligent personal mobility (IPM). It can tilt to prevent from rollover. The tilting control strategy is also proposed and implemented by double-loop PID controller in this paper, the first loop controls the tilting rate, and the second loop which encloses the first loop controls the tilting position. This double-loop PID controller was verified by working with IPM multibody model which had been verified by comparing with IPM in slalom tests. This approach can be adopted to solve instable problems of the others NTV systems.