Bicycle Stabilization using mechanism optimization and Digital LQR (2401.06441v2)

Abstract: This study introduces lateral pendulum as an innovative balancer design for bicycle stabilization. This pendulum, operating in the bicycle's vertical plane, enables the bicycle to remain stationary. The paper develops a dynamic model for a bicycle equipped with this lateral pendulum, using Lagrange's method, where the equations are validated with ADAMS software. The stabilization is demonstrated with traditional vertical and novel lateral pendulums, managed through a genetic-pole placement control algorithm. This approach showcases the superiority of the lateral pendulum over traditional methods, including vertical pendulums and steering the handlebar. Additionally, a Digital Linear Quadratic Regulator controller is implemented for practical application, further enhancing system stability.