Online Estimation of Center of Gravity (COG) for Self Balancing 2-Wheelers

Over the past century, 2-wheelers have progressed through multiple updates and upgrades to prove itself as a reliable mode of transportation. Autonomous 2-wheelers are the next natural step in this progression. Self-balancing feature is a basic requirement for any autonomous 2-wheeler system. For any self-balancing algorithm, information of Center of Gravity (COG) position is pertinent. This paper discusses the design and validation of an observer-based COG estimation algorithm which can estimate the vehicle COG position in real time. Results have been presented for algorithm subjected to multiple system noise and variations in different operating scenarios.