Robust stabilization control for an electric bicycle

Takuro Kawamura, Toshiyuki Murakami

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)


SUMMARY Recently, bicycles have gained immense popularity because they have high mobility and are an environmentally 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 investigated. The aim of this study is to improve the robustness of stabilization control. To achieve this goal, control systems that use a camber angle disturbance observer (CADO) are proposed. Two kinds of CADO are proposed in this paper, and the performance of these two observers is compared. The proposed control systems provide higher robustness than does the conventional method. The validity of the proposed methods is confirmed based on the experimental results.

Original languageEnglish
Pages (from-to)68-77
Number of pages10
JournalElectrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)
Issue number4
Publication statusPublished - 2014 Sept


  • Lyapunov stability theory
  • camber angle
  • disturbance observer
  • electric bicycle
  • stabilization control

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Electrical and Electronic Engineering


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