Robust control design of autonomous bicycle kinematics

In this paper, we provide a robust control approach for controlling the autonomous bicycle kinematics with the objective of stabilizing the bicycle steer δ and roll ϕ angles. The dynamical model is the so-called 'Whipples Bicycle Model', where the roll (lean) angle and the steer angle of the bicycle are the two outputs of the model and the torques across the roll and steer angle as the two control variables. Two control design methods are developed based on H_∞ and H₂-norm optimization using dynamic output feedback. The ensuing results are compared with an adaptive control scheme. The autonomous bicycle was tested for varying velocities.