Autonomous Tracking Control and Inverse Kinematics of Unmanned Electric Bicycle System

In the former researches for the unmanned bicycle system, we do focus on stabilizing it by using the lateral motion of mass and suggest a control algorithm for steering angle and driving wheel speed for a given desired path. We also suggest a new algorithm for nonlinear inverse kinematic problem which is similar to Piccard's iterative method in basic concept. We then propose a tracking control strategy by moving the center of load mass left and right respectively based on the nonlinear compensation-like control studied in the former researches. From the computer simulation results, we can show the effectiveness of the proposed control strategy