Second order sliding mode control with disturbance observer for bicycle stabilization

Michael Defoort, Toshiyuki Murakami

研究成果: Conference contribution

25 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
ページ2822-2827
ページ数6
DOI
出版ステータスPublished - 2008 12月 1
イベント2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
継続期間: 2008 9月 222008 9月 26

出版物シリーズ

名前2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Other

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

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • 制御およびシステム工学
  • 電子工学および電気工学

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