Second order sliding mode control with disturbance observer for bicycle stabilization

Michael Defoort, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

20 Citations (Scopus)

Abstract

Controlling a riderless bicycle is a challenging problem because the dynamics are nonlinear. In this paper, an innovative robust control strategy based on 2nd order sliding mode control (SMC) is proposed for the stabilization of an autonomous bicycle. In order to improve overall performance, application of a disturbance observer (DOB) is suggested. The combination of 2nd order SMC and DOB enables to increase the robustness of the system trajectories while avoiding the chattering phenomenon. The proposed control scheme is validated by simulation and experimental results for bicycle stabilization at low and zero velocities.

Original languageEnglish
Title of host publication2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages2822-2827
Number of pages6
DOIs
Publication statusPublished - 2008 Dec 1
Event2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
Duration: 2008 Sep 222008 Sep 26

Publication series

Name2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Other

Other2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
CountryFrance
CityNice
Period08/9/2208/9/26

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Defoort, M., & Murakami, T. (2008). Second order sliding mode control with disturbance observer for bicycle stabilization. In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 2822-2827). [4650685] (2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). https://doi.org/10.1109/IROS.2008.4650685