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

Hiroshi Satoh, Toru Namerikawa

研究成果: Article

4 引用 (Scopus)

抄録

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.

元の言語English
ページ(範囲)2130-2136
ページ数7
ジャーナルNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
72
発行部数7
出版物ステータスPublished - 2006 7
外部発表Yes

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Attitude control
Robust control
Controllers
Gravitation
Mathematical models

ASJC Scopus subject areas

  • Mechanical Engineering

これを引用

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