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A Loop Shaping Method for Stabilising a Riderless Bicycle



Research group:

Publication Type:

Conference/Workshop Paper


European Conference on Mobile Robots


Several control methods have been proposed to stabilise riderless bicycles but they do not have sufficient simplicity for practical applications. This paper proposes a practical approach to model an instrumented bicycle as a combination of connected systems. Using this model, a PID controller is designed by a loop shaping method to stabilise the instrumented riderless bicycle. The initial results show that the bicycle can be stabilised when running on a roller. The work presented in this paper shows that it is possible to self stabilise a riderless bicycle using cascade PI/PID controllers.


author = {Tom Andersson and Niklas Persson and Anas Fattouh and Martin Ekstr{\"o}m},
title = {A Loop Shaping Method for Stabilising a Riderless Bicycle},
month = {October},
year = {2019},
booktitle = {European Conference on Mobile Robots},
url = {}