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: