Stable running control of autonomous bicycle robot for trajectory tracking considering the running velocity

Taichi Saguchi, Masaki Takahashi, Kazuo Yoshida

Research output: Contribution to journalArticle

4 Citations (Scopus)


Many researchers have focused attention on a stability analysis and a stabilization control of a bicycle as one of controlled objects, because the bicycle is an unstable and nonlinear vehicle. A steering wheel control is needed to stabilize the bicycle. Moreover, a velocity of the bicycle can be controlled. Thereby, it is expected that the change of the running velocity affects the stability of the bicycle. In this study, the stabilization and trajectory tracking control of the bicycle considering the running velocity is proposed in order to improve the stability and the tracking performance. The simulations are carried out to verify the performance of the control system and the effectiveness of the change of the running velocity. From the simulation results, it was confirmed that the tracking performance and the stability against the disturbances are improved.

Original languageEnglish
Pages (from-to)397-403
Number of pages7
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number750
Publication statusPublished - 2009 Feb



  • Bicycle
  • Handle Control
  • Modeling
  • Motion Control
  • Moving Robot
  • Optimal Control

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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