Robust stabilization control for an electric bicycle

Takuro Kawamura, Toshiyuki Murakami

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)


Recently, bicycles have gained immense popularity because they have high mobility and are an environment-friendly means of transport. However, many people tend to avoid riding a bicycle because it is unstable. In order to solve this problem, stabilization control for a bicycle has been researched. The aim of this study is improvement of the robustness in stabilization control. To achieve this goal, control systems that use a camber angle disturbance observer (CADO) are proposed. Two kinds of CADOs are proposed in this paper, and the performances of these two observers are compared. The proposed control systems provide higher robustness than does the conventional method. The validity of the proposed methods is confirmed by the experimental results.

Original languageEnglish
Pages (from-to)651-658
Number of pages8
Journalieej transactions on industry applications
Issue number6
Publication statusPublished - 2012 Oct 9


  • Camber angle disturbance observer
  • Electric bicycle
  • Lyapunov stability theory
  • Stabilization control

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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