A Loop Shaping Method for Stabilising a Riderless Bicycle

Tom Andersson, Niklas Persson, Anas Fattouh, and Martin C. Ekström
Mälardalen University, Sweden

Several control methods have been proposed to stabilise riderless bicycles but they do not have sufficient simplicity for practical applications. This paper proposes a  practical approach to model an instrumented bicycle as a combination of connected systems. Using this model, a PID controller is designed by a loop shaping method to stabilise the instrumented riderless bicycle. The initial results show that the bicycle can be stabilised when running on a roller. The work presented in this paper shows that it is possible to self stabilise a riderless bicycle using cascade PI/PID controllers.