Robust Stabilization Control for an Electric Bicycle

Recently, bicycles have gained immense popularity because they have high mobility and are an environmentally friendly means of transport. However, many people tend to avoid riding a bicycle because it is unstable. In order to solve this problem, stabilization control for a bicycle has been investigated. The aim of this study is to improve the robustness of stabilization control. To achieve this goal, control systems that use a camber angle disturbance observer (CADO) are proposed. Two kinds of CADO are proposed in this paper, and the performance of these two observers is compared. The proposed control systems provide higher robustness than does the conventional method. The validity of the proposed methods is confirmed based on the experimental results.