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Yavin, Y. (2005) "Point-to-point and collision avoidance control of the motion of an autonomous bicycle"

Yavin, Y. (2005) "Point-to-point and collision avoidance control of the motion of an autonomous bicycle", Computers & Mathematics with Applications, Volume 50, Issues 10-12, November-December 2005, Pages 1525-1542.  Research paper available for purchase from Science Direct
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This work deals with the stabilization and collision avoidance control of a riderless bicycle (see Figure 1). It is assumed here that the bicycle is controlled by a pedalling torque, a directional torque, and by a rotor mounted on the crossbar that generates a tilting torque.