Attitude stabilization control of electric bicycle by backstepping

Bicycle is high efficiency vehicle and suitable for an improvement of environmental problems from society's perspective. In the practical use, however, it has some demerits. For example it is not always stable. Therefore the motion stabilization is required, and it is necessary to improve the stability of bicyle. This paper proposes a self-sustaining control strategy of electric bicycle motion using acceleration control based on backstepping. In particular, this technique is useful for improvement of running stability in low-speed range. The validity of the proposed method is confirmed by numerical and experimental results.