Summary
The nonlinear dynamics of electric scooters is investigated using a spatial mechanical model. The nonlinear governing equations are derived with the help of Kane's method. A hierarchical, linear state feedback controller with two feedback delays is designed in order to balance the e-scooter in a vertical position at zero longitudinal speed. The linear stability charts of the delayed controller are constructed with semi-discretization. The optimal higher-level control gains, corresponding to the fastest decay of the solution, are investigated. The performance of the control algorithm is verified by means of numerical simulations.
