Vertical Balance of an Autonomous Two-Wheeled Single-Track Electric Vehicle

In the dynamic landscape of autonomous transport, the integration of intelligent transport systems and embedded control technology is pivotal. While strides have been made in the development of autonomous agents and multi-agent systems, the unique challenges posed by two-wheeled vehicles remain largely unaddressed. Dedicated control strategies for these vehicles have yet to be developed. The vertical balance of an autonomous two-wheeled single-track vehicle is a challenge for engineering. This type of vehicle is unstable and its dynamic behaviour changes with the forward velocity. We designed a scheduled-gain proportional-integral controller that adapts its gains to the forward velocity, maintaining the vertical balance of the vehicle by means of the steering front-wheel angle. The control law was tested with a prototype designed by the authors under different scenarios, smooth and uneven floors, maintaining the vertical balance in all cases.