System dynamics and control of bicycles at high speeds

This paper presents the system dynamics and automated roll-rate control of front and rear-wheel steered bicycles. Automated steering control of bicycles gains importance in the context of a recent effort, initiated by bicycle designer Matt Weaver, to develop controllers to steer bicycles at very high speeds (70-100 mph). This paper extends earlier work on rear-wheel steered bikes, importantly Klein's unridable bicycle. Controllers for both front and rear-wheel steered bicycles are designed based on classical control techniques. Simulation results demonstrate good robustness and disturbance rejection properties. Implementation is currently underway.