TY - JOUR
T1 - Sliding-mode control scheme for an intelligent bicycle
AU - Defoort, Michael
AU - Murakami, Toshiyuki
N1 - Funding Information:
Manuscript received September 2, 2008; revised November 26, 2008 and January 16, 2009. First published March 16, 2009; current version published August 12, 2009. This work was supported by a JSPS Postdoctoral Fellowship. M. Defoort is with the Department of Computer Science and Automatic Systems, Ecole des Mines de Douai, 59500 Douai, France (e-mail: michael.defoort@gmail.com). T. Murakami is with the Department of System Design Engineering, Keio University, Yokohama 223-8522, Japan (e-mail: mura@sd.keio.ac.jp). Color versions of one or more of the figures in this paper are available online at http://ieeexplore.ieee.org. Digital Object Identifier 10.1109/TIE.2009.2017096
Copyright:
Copyright 2009 Elsevier B.V., All rights reserved.
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
KW - Autonomous bicycle
KW - Disturbance observer (DOB)
KW - Motion control
KW - Sliding-mode control (SMC)
UR - http://www.scopus.com/inward/record.url?scp=69349083741&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=69349083741&partnerID=8YFLogxK
U2 - 10.1109/TIE.2009.2017096
DO - 10.1109/TIE.2009.2017096
M3 - Article
AN - SCOPUS:69349083741
VL - 56
SP - 3357
EP - 3368
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
SN - 0278-0046
IS - 9
ER -