Experimental Study of Automatic Control of Bicycle with Balancer

In this paper, trajectory tracking and balancing control for autonomous bicycles with a balancer are discussed. In the proposed control method, an input-output linearization is applied for trajectory tracking control and a nonlinear stabilizing control is used for the balancing control. Even though control methods are designed independently, it is shown by several numerical simulations and experiments using a detail model and a real electric motor bike that the stability of the bicycles is ensured with the method even when the desired speed is zero and trajectory tracking to desired ones are achieved