# American Institute of Mathematical Sciences

2014, 4(3): 181-191. doi: 10.3934/naco.2014.4.181

## Robust control design of autonomous bicycle kinematics

 1 Systems Engineering Department, King Fahd University of Petroleum and Minerals, P. O. Box 5067, Dhahran 31261, Saudi Arabia, Saudi Arabia

Received  August 2013 Revised  April 2014 Published  September 2014

In this paper, we provide a robust control approach for controlling the autonomous bicycle kinematics with the objective of stabilizing the bicycle steer $\delta$ and roll $\phi$ angles. The dynamical model is the so-called 'Whipples Bicycle Model', where the roll (lean) angle and the steer angle of the bicycle are the two outputs of the model and the torques across the roll and steer angle as the two control variables. Two control design methods are developed based on $H_\infty$ and $H_2$-norm optimization using dynamic output feedback. The ensuing results are compared with an adaptive control scheme. The autonomous bicycle was tested for varying velocities.
Citation: Magdi S. Mahmoud, Omar Al-Buraiki. Robust control design of autonomous bicycle kinematics. Numerical Algebra, Control & Optimization, 2014, 4 (3) : 181-191. doi: 10.3934/naco.2014.4.181
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