Observer-Based Control with Hardware-In-The-Loop for Stabilization of a Driverless Two-Wheeled Vehicle

This paper presents the design of a control system whose objective is to stabilize a riderless bicycle. This is achieved from two torques applied to the angular positions of the vehicle. Also, the implementation of hardware in the loop is considered because only one of the states of the mathematical model is measured. The design of the control system addresses three important features: considering part of the real system (front frame or handlebars), a state observer and tacking into account these two parts, the solution of the roll angle variable is addressed with the corresponding differential equation (or hardware in the loop).