Stable running control of autonomous bicycle robot for trajectory tracking considering the running velocity

Taichi Saguchi, Masaki Takahashi, Kazuo Yoshida

研究成果: Article査読

6 被引用数 (Scopus)

抄録

Many researchers have focused attention on a stability analysis and a stabilization control of a bicycle as one of controlled objects, because the bicycle is an unstable and nonlinear vehicle. A steering wheel control is needed to stabilize the bicycle. Moreover, a velocity of the bicycle can be controlled. Thereby, it is expected that the change of the running velocity affects the stability of the bicycle. In this study, the stabilization and trajectory tracking control of the bicycle considering the running velocity is proposed in order to improve the stability and the tracking performance. The simulations are carried out to verify the performance of the control system and the effectiveness of the change of the running velocity. From the simulation results, it was confirmed that the tracking performance and the stability against the disturbances are improved.

本文言語English
ページ(範囲)397-403
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
75
750
DOI
出版ステータスPublished - 2009 2月

ASJC Scopus subject areas

  • 材料力学
  • 機械工学
  • 産業および生産工学

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