Design and Control of a Self-balancing Bicycle Using an Electric Linear Actuator

Abstract

In this thesis, we utilize a high speed electric linear actuator to provide a bicycle with automatic steering capabilities that enable self-balancing when set in motion. Equations of motion of a bicycle are derived and a second-order linear system is used to model and simulate the bicycle. A PID controller design governs the steering actuation mechanism from lean angle measurements collected from a MEMS 6-axis gyroscope and accelerometer. Experimental tests on the feedback system are presented. These experimental results are improved upon by using a gain scheduling controller scheme. Additional results are presented from experiments conducted on the semi-autonomous bicycle at various speeds.