The purpose of this paper is to introduce an experimental method for investigating the motion of an electric unicycle and its rider. As the balancing and maneuvering method of human on electric unicycle is known, this may help us in evaluating the safety of human rider, design balance-assist features and/or self-driving functionalities.

In this paper, we investigate the reverse motion of a car-trailer combination. The single track model of the vehicle is used with quasi-static tire model to design a simple linear feedback controller that can achieve stable reversing motion along a straight path. The linear stability of the closed-loop system is analyzed by constructing stability charts in the plane of the control gains. The effect of the reversing speed of the vehicle on the stability is also shown. In order to validate the theoretical results, laboratory experiments are carried out using a small-scale vehicle and a conveyor belt.