Dynamic Modeling and Stability Analysis of Balancing in Riderless Electric Scooters

Today, electric scooter is a trendy personal mobility vehicle. The rising demand and opportunities attract ride-share services. A common problem of such services is abandoned e-scooters. An autonomous e-scooter capable of moving to the charging station is a solution. This paper focuses on maintainin...

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Bibliographic Details
Published inarXiv.org
Main Authors Yun-Hao, Lin, Jafari, Alireza, Yen-Chen, Liu
Format Paper
LanguageEnglish
Published Ithaca Cornell University Library, arXiv.org 12.07.2024
Subjects
Balancing
Control systems
Controllers
Demand analysis
Dynamic models
Feedback
Linearization
Motor scooters
Parameter uncertainty
Stability analysis
Steering
Uncertainty analysis
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Summary:Today, electric scooter is a trendy personal mobility vehicle. The rising demand and opportunities attract ride-share services. A common problem of such services is abandoned e-scooters. An autonomous e-scooter capable of moving to the charging station is a solution. This paper focuses on maintaining balance for these riderless e-scooters. The paper presents a nonlinear model for an e-scooter moving with simultaneously varying speed and steering. A PD and a feedback-linearized PD controller stabilize the model. The stability analysis shows that the controllers are ultimately bounded even with parameter uncertainties and measurement inaccuracy. Simulations on a realistic e-scooter with a general demanding path to follow verify the ultimate boundedness of the controllers. In addition, the feedback-linearized PD controller outperforms the PD controller because it has narrower ultimate bounds. Future work focuses on experiments using a self-balancing mechanism installed on an e-scooter.
ISSN:2331-8422