Abstract
In this research, the stability of the two-wheel steering and two-wheel driving (2WS/2WD) bicycle, which is one of the form of the Personal Mobility Vehicle (PMV) proposed by the authors, is discussed. In order to achieve portability and geometric flexibility as PMV, the selected parameters of the bicycle lead to less stability than the conventional one. Then, the control design which diminishes the influence of the parameters is proposed and the effect is shown in the simulation.
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