Abstract
Stability of two-wheeled vehicles depends on their running speed. The running vehicle at high speed is stable but the vehicle in a state of stillness is unstable. In order to stabilize two-wheeled vehicles in the state of stillness, center-of-gravity movement and handle operation by the rider are indispensable. Then we develop a stationary self-sustaining two-wheeled vehicle which is a two-wheeled vehicle equipped with a cart system to move a center-of gravity of the vehicle for stabilizing the system. We derive a state space model of system based on Lagrange method and identified model parameters by control experiments. A robust attitude controller is designed via H∞, Loop Shaping Design Procedure (LSDP). Experimental results show an effectiveness of the derived mathematical model and the designed robust attitude controller compared with LQ controller.
| Original language | English |
|---|---|
| Pages (from-to) | 2130-2136 |
| Number of pages | 7 |
| Journal | Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C |
| Volume | 72 |
| Issue number | 7 |
| Publication status | Published - 2006 Jul |
| Externally published | Yes |
Fingerprint
Keywords
- H LSDP
- Modeling
- Robust Attitude Control
- Self-sustaning Two- wheeled Vehicle
ASJC Scopus subject areas
- Mechanical Engineering
Cite this
Modeling and robust attitude control of stationary self-sustaining two-wheeled vehicle. / Satoh, Hiroshi; Namerikawa, Toru.
In: Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 72, No. 7, 07.2006, p. 2130-2136.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Modeling and robust attitude control of stationary self-sustaining two-wheeled vehicle
AU - Satoh, Hiroshi
AU - Namerikawa, Toru
PY - 2006/7
Y1 - 2006/7
N2 - Stability of two-wheeled vehicles depends on their running speed. The running vehicle at high speed is stable but the vehicle in a state of stillness is unstable. In order to stabilize two-wheeled vehicles in the state of stillness, center-of-gravity movement and handle operation by the rider are indispensable. Then we develop a stationary self-sustaining two-wheeled vehicle which is a two-wheeled vehicle equipped with a cart system to move a center-of gravity of the vehicle for stabilizing the system. We derive a state space model of system based on Lagrange method and identified model parameters by control experiments. A robust attitude controller is designed via H∞, Loop Shaping Design Procedure (LSDP). Experimental results show an effectiveness of the derived mathematical model and the designed robust attitude controller compared with LQ controller.
AB - Stability of two-wheeled vehicles depends on their running speed. The running vehicle at high speed is stable but the vehicle in a state of stillness is unstable. In order to stabilize two-wheeled vehicles in the state of stillness, center-of-gravity movement and handle operation by the rider are indispensable. Then we develop a stationary self-sustaining two-wheeled vehicle which is a two-wheeled vehicle equipped with a cart system to move a center-of gravity of the vehicle for stabilizing the system. We derive a state space model of system based on Lagrange method and identified model parameters by control experiments. A robust attitude controller is designed via H∞, Loop Shaping Design Procedure (LSDP). Experimental results show an effectiveness of the derived mathematical model and the designed robust attitude controller compared with LQ controller.
KW - H LSDP
KW - Modeling
KW - Robust Attitude Control
KW - Self-sustaning Two- wheeled Vehicle
UR - http://www.scopus.com/inward/record.url?scp=33749335308&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33749335308&partnerID=8YFLogxK
M3 - Article
VL - 72
SP - 2130
EP - 2136
JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
SN - 0387-5024
IS - 7
ER -