A Fuzzy Controller Design for an Autonomous Bicycle System

An intelligent controller is developed for stabilizing an autonomous bicycle system. The autonomous bicycle is stabilized by controlling its lean alone. The controller is developed using fuzzy logic approach wherein the rule set is designed using the inherent-characteristic relationship of lean and steer present in a bicycle. The Newtonian mechanics based bicycle model along with the controller is simulated in MATLAB. The controller is simulated to actuate at constant time intervals and the simulation results confirm that the controller effort successfully stabilizes the bicycle in unstable velocity regions.