Steering-Based Balancing Control of a Riderless Electric Scooter at Constant Speed with Emphasis on Pitch Dynamics

Horváth, Hanna Zsófia and Bachrathy, Dániel (2026) Steering-Based Balancing Control of a Riderless Electric Scooter at Constant Speed with Emphasis on Pitch Dynamics. In: 17th International Symposium on Advanced Vehicle Control, AVEC 2026, 2026.09.07-2026.09.11, Tsukuba.

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Abstract

This study investigates the stabilization of a riderless electric scooter at constant forward speed using a steeringbased control strategy, with emphasis on the handling of pitch dynamics. A spatial mechanical model, based on the Whipple bicycle model, is constructed, and the nonlinear equations of motion are derived using Kane’s method. A hierarchical steering controller with feedback delay is applied to balance the upright position of the e-scooter. Stability is analyzed using a Nyquist-based and also an affine mapping method. The control gains are optimized by maximizing the spectral abscissa. The results show that the proposed controller significantly extends the stable speed range and ensures rapid decay of vibrations. Furthermore, alternative pitch handling approaches are compared, highlighting the trade-off between computational efficiency and accuracy in stability predictions.

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