Self-Sustaining Approach of Electric Bicycle by Acceleration Control Based 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 for widespread applications. This paper focuses on the instability of bicycle running. In particular, a self-sustaining control strategy of electric bicycle motion using acceleration control based on backstepping is proposed. The proposed method makes it possible to improve running stability in low-speed range. The validity of the proposed algorithm is confirmed by numerical and experimental results.