DOI: 10.1109/iccas.2013.6704019
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Omar Al-Buraiki, Sami El Ferik

Abstract: In this paper , an adaptive Self-Tuning Regulator is proposed to control an autonomous bicycle kinematics. The model used for describing the dynamics of the bicycle is Whipple's bicycle model. The roll (lean) and the steer angle of the bicycle the two outputs of the model and the torques across the roll and steer angle as the two control variables. The identification technique used in here is recursive least square identification and the proposed control strategy is state feed back control with the controller…

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