Robust stabilization of running self-sustaining two-wheeled vehicle with varying speed and mass variations

Hiroshi Satoh, Toru Namerikawa

Research output: Contribution to journalArticle

Abstract

This paper deals with robust stabilization of running self-sustaining two-wheeled vehicle with varying running speed and mass variations. Recently, there have been a lot of research results about stabilization of two-wheeled vehicle. These researches have achieved the stable running only by the steering control. However, an actual two-wheeled vehicle is stabilized by not only the steering control, but the control of a vehicle's center of gravity. We have proposed the stabilization control method of two-wheeled vehicle in the state of stillness, and have shown the effectiveness of proposed approach. In this research, we construct the control system for the running stabilization of two-wheeled vehicle. H control problem is used to design the controller to achieve running stability even if the running speed and the mass of two-wheeled vehicle would change. The experimental results show effectiveness of proposed approach for robustness.

Original languageEnglish
Pages (from-to)882-889
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume75
Issue number752
Publication statusPublished - 2009 Apr
Externally publishedYes

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Stabilization
Gravitation
Control systems
Controllers

Keywords

  • Attitude control
  • Mass variation
  • Robust running stabilization
  • Self-sustaining two-wheeled vehicle
  • Varying running speed

ASJC Scopus subject areas

  • Mechanical Engineering
  • Mechanics of Materials
  • Industrial and Manufacturing Engineering

Cite this

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abstract = "This paper deals with robust stabilization of running self-sustaining two-wheeled vehicle with varying running speed and mass variations. Recently, there have been a lot of research results about stabilization of two-wheeled vehicle. These researches have achieved the stable running only by the steering control. However, an actual two-wheeled vehicle is stabilized by not only the steering control, but the control of a vehicle's center of gravity. We have proposed the stabilization control method of two-wheeled vehicle in the state of stillness, and have shown the effectiveness of proposed approach. In this research, we construct the control system for the running stabilization of two-wheeled vehicle. H∞ control problem is used to design the controller to achieve running stability even if the running speed and the mass of two-wheeled vehicle would change. The experimental results show effectiveness of proposed approach for robustness.",
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AB - This paper deals with robust stabilization of running self-sustaining two-wheeled vehicle with varying running speed and mass variations. Recently, there have been a lot of research results about stabilization of two-wheeled vehicle. These researches have achieved the stable running only by the steering control. However, an actual two-wheeled vehicle is stabilized by not only the steering control, but the control of a vehicle's center of gravity. We have proposed the stabilization control method of two-wheeled vehicle in the state of stillness, and have shown the effectiveness of proposed approach. In this research, we construct the control system for the running stabilization of two-wheeled vehicle. H∞ control problem is used to design the controller to achieve running stability even if the running speed and the mass of two-wheeled vehicle would change. The experimental results show effectiveness of proposed approach for robustness.

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