Sliding-mode control scheme for an intelligent bicycle

Michael Defoort, Toshiyuki Murakami

研究成果: Article査読

62 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)3357-3368
ページ数12
ジャーナルIEEE Transactions on Industrial Electronics
56
9
DOI
出版ステータスPublished - 2009

ASJC Scopus subject areas

  • 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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