Self-Balancing Bike

As part of my final year at university, I built a full-scale rider-less, self-balancing bike. This involved the modelling, simulation, control system design, and mechanical/electrical/software implementation.

Read the final report by clicking here!

First working version (Lego Mindstorms prototype):

PID and H-Infinity controllers:

Full-scale bicycle test run:

Some pictures of the full-scale bicycle:


One Reply to “Self-Balancing Bike”

  1. Interesting choice to remove the handlebar! Must’ve lost some stability from that? 😛


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