Abstract
As well know, a bicycle is a high efficiency vehicle and is suitable for society in the future. In the practical use, however, the bicycle is not always stable and the motion stabilization is required for a widespread application. This paper focuses on the instability of the bicycle. In particular, self-sustaining control strategy of electric bicycle motion using backstepping with acceleration control is proposed. The proposed method makes it possible to achieve a low speed running of bicycle. The validity of the proposed algorithm is confirmed by numerical and experimental results.
