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Institute for Systems Theory and Automatic Control
Research
Group of Frank Allgöwer
Rear-Wheel Steered Bicycle

Rear-Wheel Steered Bicycle

We demonstrate the strengths and advantages of automatic control compared to human control with a rear-wheel steered bicycle.

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Developed at the Institute for Systems Theory and Automatic Control

At the IST, the rear-wheel steered bicycle project serves as a powerful demonstration of the advantages of control theory. This unconventional system, where the rear wheel is steered instead of the front, challenges standard dynamics and allows for a deeper exploration of key control concepts such as stability and feedback. Through this project, students can observe how mathematical models and control algorithms are applied to solve complex engineering problems, providing a practical illustration of control theory's relevance in real-world dynamic systems.

Fully Autonomous Bike

The fully autonomous rear-wheel steered bicycle developed at the IST is equipped with two motors, one for steering and the other for propulsion. An IMU (Inertial Measurement Unit) sensor together with two encoders provides essential data on the bike's motion and orientation, allowing it to maintain balance and navigate autonomously. The system supports the implementation of multiple control algorithms, making it a practical platform for demonstrating various control strategies in an application.

Manual Bike

The manual rear-wheel steered bicycle is designed to give students a firsthand experience of the significant challenges involved in controlling such an unconventional system. Unlike traditional front-wheel steering, this setup reverses the intuitive handling dynamics, making it extremely difficult to maintain stability and control direction. Students attempting to ride the bike quickly realize how even minor steering adjustments result in exaggerated and often unpredictable movements, highlighting the complexity of dynamic systems. This exercise serves as a powerful demonstration of the need for advanced control strategies when dealing with non-standard or counterintuitive mechanical systems.