Gain-scheduled linear quadratic regulator applied to the stabilization of a riderless bicycle

In this article, a gain-scheduling control is designed to achieve the stabilization of a riderless bicycle. The main contribution is the design of a stabilizing control system including integral actions based on an observer and its corroboration through experimental results, with the objective of the stabilization of a riderless bicycle toward its upright position through a torque applied to the handlebar. The bicycle stabilization is achieved even when the translational velocity is varying over time, parameter considered as scheduling variable. The stabilizing system is based on a linear quadratic regulator gain-scheduling control, concluding with the effective application of this scheme on an instrumented prototype.