Optimal stabilization and straight line tracking of an electric bicycle

Bicycle is a high efficiency transportation tool without any environmental burden. However, it has the inherent disadvantage that, it is unstable by itself and human assisted control is necessary for its stable running. In this paper optimal control methods are proposed for the stabilization and tracking of an electric bicycle. In the proposed method a self sustaining control of electric bicycle using linear quadratic regulator (LQR) is designed. In addition to stabilization, a linear tracking controller is also designed. Tracking control is implemented based on the trajectory parameters. The feasibility of the proposed approaches are evaluated by simulations.