Attitude control of bicycle motion by steering angle and variable COG control

Ko Iuchi, Hiroshi Niki, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

35 Citations (Scopus)

Abstract

As well know, a bicycle is a high efficiency vehicle and is suitable for aging society in the future. In the practical use, however, the bicycle is not always stable and the motion stabilization is required for a widespread application. In an electric bicycle, two strategies are taken up to stabilize the running motion of a bicycle. One is Center Of Gravity (COG) control of bicycle, and the other is a control of steering angle of handle. In the past research, there are few researches that consider an autonomous control of bicycle by using both steering and COG position control. To address this issue, this paper describes a strategy that realizes autonomous motion of bicycle with the use of steering and COG control. Numerical and experimental results are shown to verify the validity of the proposed strategy.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages2065-2070
Number of pages6
Volume2005
DOIs
Publication statusPublished - 2005
EventIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society - Raleigh, NC, United States
Duration: 2005 Nov 62005 Nov 10

Other

OtherIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society
CountryUnited States
CityRaleigh, NC
Period05/11/605/11/10

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Keywords

  • Attitude control
  • Bicycle
  • Disturbance observer
  • Inverted pendulum
  • Steering control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Iuchi, K., Niki, H., & Murakami, T. (2005). Attitude control of bicycle motion by steering angle and variable COG control. In IECON Proceedings (Industrial Electronics Conference) (Vol. 2005, pp. 2065-2070). [1569222] https://doi.org/10.1109/IECON.2005.1569222