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arXiv · 2407.09078

Dynamic Modeling and Stability Analysis of Balancing in Riderless Electric Scooters

Yun-Hao Lin·Alireza Jafari·Yen-Chen Liu
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Abstract

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.

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Yun-Hao Lin, Alireza Jafari, Yen-Chen Liu. 2024-07-12. Dynamic Modeling and Stability Analysis of Balancing in Riderless Electric Scooters. https://arxiv.org/abs/2407.09078

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