IJCAS

In this papers, we derive a simple kinematic and dynamic formulation of an unmanned electric bicycle. We also check the control ability of thes tabilization problem of bicycle. We proposea new control algorithm for these lf stabilization of unmanned bicycle with bounded whe lspedand steringang lebyusing nonlinear control basedon thes lidingpatch and stuck phenomena which wasintroducedby W.Ham.We also proposeasort of optimal control strategy for stering angleand driving whelsped that make the lengthofbicycle'spathbetheshor test.From the computer simul at ionresults,we provet hevalidity of the proposed control algorithm.

Keywords: electricbicycle , sliding mode control,sliding patch, lyapunovfunction, stabilization