Dynamic Modeling and Stability Analysis of Balancing in Riderless Electric Scooters
<|reference_start|>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 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.<|reference_end|>
@article{lin2024dynamic,
    title={Dynamic Modeling and Stability Analysis of Balancing in Riderless
  Electric Scooters},
    author={Yun-Hao Lin and Alireza Jafari and Yen-Chen Liu},
    journal={arXiv preprint arXiv:2407.09078},
    year={2024},
    archivePrefix={arXiv},
    eprint={2407.09078},
    primaryClass={eess.SY cs.SY}
}