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Simulation model for studying inherent stability characteristics of autonomous bicycle

An autonomous bicycle system modeled with a passive rider is simulated in MATLAB-SIMULINK and the stabilizing phenomenon is studied using simulation experiments. The model uses a practical bicycle's data set, being used for the experiment. It has been verified, using variety of constraints on lean & steer that the inherent stability is better at high-speeds w.r.t. steering oscillations, and at low speeds the high steering oscillations add to stabilize it. Also a range of velocities is found for which the bicycle remains self-stable. The intrinsic stability property of the bicycle is revealed effectively in this model.