Bicycle Stabilization using mechanism optimization and Digital LQR

Abstract

This study introduces lateral pendulum as an innovative balancer design for bicycle stabilization. This pendulum, operating in the bicycle's vertical plane, enables the bicycle to remain stationary. The paper develops a dynamic model for a bicycle equipped with this lateral pendulum, using Lagrange's method, where the equations are validated with ADAMS software. The stabilization is demonstrated with traditional vertical and novel lateral pendulums, managed through a genetic-pole placement control algorithm. This approach showcases the superiority of the lateral pendulum over traditional methods, including vertical pendulums and steering the handlebar. Additionally, a Digital Linear Quadratic Regulator controller is implemented for practical application, further enhancing system stability.