Automatic control of bicycles with a balancer

In this paper, trajectory tracking and balancing control for autonomous bicycles with a balancer are discussed. In the proposed control method, an input-output linearization is applied for trajectory tracking control and a nonlinear stabilizing control is used for the balancing control. The control methods are designed independently first and their interference is compensated for later. The stability of the bicycles is ensured with the method even when the desired speed is zero. The effectiveness of the proposed method is shown by several numerical simulations using a detail model of a bicycle