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

Hiroshi Satoh, Toru Namerikawa

Research output: Contribution to conferencePaper

1 Citation (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 languageEnglish
Pages2174-2179
Number of pages6
Publication statusPublished - 2005 Dec 1
Externally publishedYes
EventSICE Annual Conference 2005 - Okayama, Japan
Duration: 2005 Aug 82005 Aug 10

Other

OtherSICE Annual Conference 2005
CountryJapan
CityOkayama
Period05/8/805/8/10

Keywords

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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Satoh, H., & Namerikawa, T. (2005). Modeling and robust attitude control of stationary self-sustaining two-wheeled vehicle. 2174-2179. Paper presented at SICE Annual Conference 2005, Okayama, Japan.