Modeling and robust attitude control of stationary self-sustaining two-wheeled vehicle

Hiroshi Satoh; Toru Namerikawa

doi:10.1299/kikaic.72.2130

Modeling and robust attitude control of stationary self-sustaining two-wheeled vehicle

Hiroshi Satoh, Toru Namerikawa

Research output: Contribution to journal › Article › peer-review

5 Citations (Scopus)

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
DOIs	https://doi.org/10.1299/kikaic.72.2130
Publication status	Published - 2006 Jul
Externally published	Yes

Keywords

H LSDP
Modeling
Robust Attitude Control
Self-sustaning Two- wheeled Vehicle

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering
Industrial and Manufacturing Engineering

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10.1299/kikaic.72.2130

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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.",

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