Fuzzy control for equilibrium and roll-angle tracking of an unmanned bicycle

This study presents steady turning motion and roll-angle tracking controls for an unmanned bicycle. The equations of motion describing the dynamics of a bicycle are developed using Lagrange's equations for quasi-coordinates. Pure rolling without slipping constraints between the ground and two wheels are also considered in this model. These constraints introduce four holonomic and four non-holonomic constraint equations to the model. For the developed bicycle dynamics, one PID and one fuzzy controller that create steering torque are derived to recover the balance of the bicycle from a near-fall state. Furthermore, another fuzzy controller is added for controlling the bicycle to a desired roll angle which leads to its steady circular motion. The bicycle can track a given roll angle while maintaining its balance. The effectiveness of the control schemes is proved by simulation results.