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

Hiroshi Satoh, Toru Namerikawa

研究成果: Paper査読

1 被引用数 (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.

本文言語English
ページ2174-2179
ページ数6
出版ステータスPublished - 2005 12月 1
外部発表はい
イベントSICE Annual Conference 2005 - Okayama, Japan
継続期間: 2005 8月 82005 8月 10

Other

OtherSICE Annual Conference 2005
国/地域Japan
CityOkayama
Period05/8/805/8/10

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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