Modeling and robust attitude control of stationary self-sustaining two-wheeled vehicle

Hiroshi Satoh, Toru Namerikawa

Research output: Contribution to journalArticlepeer-review

8 Citations (Scopus)


Stability of two-wheeled vehicles depends on their running speed. The running vehicle at high speed is stable but the vehicle in a state of stillness is unstable. In order to stabilize two-wheeled vehicles in the state of stillness, center-of-gravity movement and handle operation by the rider are indispensable. Then we develop a stationary self-sustaining two-wheeled vehicle which is a two-wheeled vehicle equipped with a cart system to move a center-of gravity of the vehicle for stabilizing the system. We derive a state space model of system based on Lagrange method and identified model parameters by control experiments. A robust attitude controller is designed via H, Loop Shaping Design Procedure (LSDP). Experimental results show an effectiveness of the derived mathematical model and the designed robust attitude controller compared with LQ controller.

Original languageEnglish
Pages (from-to)2130-2136
Number of pages7
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number7
Publication statusPublished - 2006 Jul
Externally publishedYes


  • H LSDP
  • Modeling
  • Robust Attitude Control
  • Self-sustaning Two- wheeled Vehicle

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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