Abstract
This paper deals with the robust stabilization and trajectory-tracking problems of a riderless bicycle. A dynamic model, which takes into account geometric-stabilization mechanisms due to bicycle trail, is presented. A posture controller which combines second-order sliding-mode control and disturbance observer is derived. Then, an innovative tracking controller based on the proposed posture controller and the dynamic-inversion framework is designed. Simulation and experimental results on an autonomous bicycle show the performances of the proposed strategy for the stabilization and tracking problems.
| Original language | English |
|---|---|
| Pages (from-to) | 3357-3368 |
| Number of pages | 12 |
| Journal | IEEE Transactions on Industrial Electronics |
| Volume | 56 |
| Issue number | 9 |
| DOIs | |
| Publication status | Published - 2009 Sep 3 |
Keywords
- Autonomous bicycle
- Disturbance observer (DOB)
- Motion control
- Sliding-mode control (SMC)
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering
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Cite this
Defoort, M., & Murakami, T. (2009). Sliding-mode control scheme for an intelligent bicycle. IEEE Transactions on Industrial Electronics, 56(9), 3357-3368. https://doi.org/10.1109/TIE.2009.2017096