Implementation of Fuzzy Inference Engine for equilibrium and roll-angle tracking of riderless bicycle

Abstract

In this paper, a Fuzzy Inference System (FIS) is fabricated on a riderless bicycle. The Fuzzy Inference System is based on a rule base inherited from human experience of bicycle riding. The steady turning motion and roll-angle tracking controls for the riderless bicycle were achieved by using fuzzy concept. Collection of sensors, actuator, micro-controller and electrical circuits were employed to introduce new prototype autonomous bicycle. Effectiveness of the control scheme was proved by experimental tests and stabilization and roll-angle tracking of the real bicycle was illustrated by results.