Development of Self Balancing Autonomous Bicycle

Hemanth, Mutyala and Kumar, R Prasanth (2019) Development of Self Balancing Autonomous Bicycle. Masters thesis, Indian institute of technology Hyderabad.

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Abstract

Aim of the project is to develop the hardware and algorithm of self balancing bicycle. Due to its under-actuated behavior and complex dynamic governing variables like mass matrix, gyroscopic couple and conservation of momentum etc.. Mathematical modeling for stability analysis for this system is hard to achieve. So, building and development of such autonomous bicycle system has to be based on soft computing techniques. There are many methods and control parameters that can be used to design this control system. Most mentioned such methods are balancing with gyroscopic wheel and COG shifting principle with inverted pendulum mass [1], But the optimistic implementation would be natural counter steering principle which is proven to be enough [2] with no extra masses or power consumption. So stability and self balancing goal was attempted to achieve only with the principle of counter steering with minimal inputs and power requirements. Also among the soft computing techniques Fuzzy logics are most natural to apply to this system since the human intuition is very basic and easy to form the rules in riding a bicycle. So, in this proposed implementation bicycle lean and lean rate are as plant inputs and steer angle and steer angle rate are as plant outputs to achieve the desired goal. An electric bicycle is assembled with various hardware and electronic components, is used for this purpose.

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