Observer-based LPV stabilization system for a riderless bicycle

This paper presents the development of an observer-based stabilization system applied to a riderless bicycle. Because the bicycle dynamics depends on the velocity, a linear parameter varying (LPV) approach is used to design both, the observer to estimate the unmeasurables states and the stabilization controller. The main contribution is to propose the closed-loop stability conditions by using a set of linear matrix inequalities obtained by means of a Lyapunov analysis. The closed-loop poles, of both the observer and the controller, are located in predefined stable regions in order to ensure an adequate performance of the stabilization system even if the velocity of the bicycle varies.