Model Predictive Control Design Approach for Autonomous Bicycle Kinematics Stabilization

被引：0

作者：

AI-Buraiki, Omar ^{[1
]}

Bin Thabit, Mohammed ^{[2
]}

机构：

[1] King Fahd Univ Petr & Minerals, Syst Engn Dept, Dhahran 31261, Saudi Arabia

[2] King Fahd Univ Petr & Minerals, Elect Engn Dept, Dhahran 31261, Saudi Arabia

来源：

2014 22ND MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED) | 2014年

关键词：

TRACKING CONTROL; DYNAMICS; BALANCE;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we propose a model predictive control (MPC) approach for controlling the autonomous bicycle kinematics to stabilize the bicycle steer and roll angles. The dynamical model is the so-called 'Whipples Bicycle Model', where the roll (lean) angle and the steer angle of the bicycle are the two outputs of the model and the torques across the roll and steer angle as the two control variables. The autonomous bicycle was tested for varying velocities.

引用

页码：380 / 383

页数：4