AU self-balancing and tracking bicycle: implementation of design and control system
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Abstract
The AU Self-Balancing and Tracking bicycle (AUBST) utilizes Proportional Derivative (PD) controllers to achieve robust self-balancing and tracking control for unmanned navigation. The system leverages the gyroscopic effect for balance control and integrates gyroscope and encoder sensors to measure lean angles, while GPS and a compass enable precise tracking. The balance system is implemented using a double-loop feedback mechanism, which incorporates additional sensors and optimally tuned gains to enhance performance. Experimental results demonstrate the superiority of the double-loop system, achieving a maximum lean angle of ±2◦ and minimal tracking error. These advancements enable AUBST to deliver reliable self-navigation and open avenues for practical applications, including urban commuting, autonomous delivery systems, safety awareness and mobility solutions for individuals with disabilities.
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