Sliding-mode control scheme for an intelligent bicycle

Michael Defoort, Toshiyuki Murakami

Research output: Contribution to journalArticlepeer-review

64 Citations (Scopus)


This paper deals with the robust stabilization and trajectory-tracking problems of a riderless bicycle. A dynamic model, which takes into account geometric-stabilization mechanisms due to bicycle trail, is presented. A posture controller which combines second-order sliding-mode control and disturbance observer is derived. Then, an innovative tracking controller based on the proposed posture controller and the dynamic-inversion framework is designed. Simulation and experimental results on an autonomous bicycle show the performances of the proposed strategy for the stabilization and tracking problems.

Original languageEnglish
Pages (from-to)3357-3368
Number of pages12
JournalIEEE Transactions on Industrial Electronics
Issue number9
Publication statusPublished - 2009


  • Autonomous bicycle
  • Disturbance observer (DOB)
  • Motion control
  • Sliding-mode control (SMC)

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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