On Increasing the Energy Efficiency and Performance of a Bicycle Robot Stabilization—Towards Event-Triggered Control Considerations

This paper addresses the critical problem of stabilizing an inherently unstable bicycle robot at low or zero speeds using advanced control strategies. The key objective is to develop a feedback controller that actively operates a handlebar, as well as a reaction wheel, maintaining balance while keeping performance indices low, including energy consumption. It is the energy consumption that makes the platform attractive for the users by extending the time of operation, not only due to the actions connected to motor design and battery design, but to the control system itself. To design and verify the control law that enables stabilization, and reduces energy consumption, bicycle dynamics and controllers based on linear quadratic regulator (LQR) techniques are designed, along with their robustified variants accounting for actuator failures and model uncertainties, and an innovative event-triggered control (ETC) scheme to reduce control updates and energy use. Simulations demonstrate effective stabilization from various initial lean angles under realistic conditions, with robustness notably improved at zero speed, where balancing is most challenging. Extending control to include both reaction wheel and handlebar actuation enhances dynamic maneuverability and energy efficiency. The event-triggered approach significantly lowers computational and actuator energy demands by updating controls only when needed, reducing mechanical wear. This research contributes to electromobility by improving the control and energy efficiency of personal transport devices like electric bicycles and autonomous bicycles, which rely on stable balancing mechanisms for safety and user comfort. The findings support future experimental validation and IoT implementation, pushing forward controlled, energy-conscious stabilization for emerging personal electromobility solutions.