Sliding-Mode Control Scheme for an Intelligent Bicycle

被引：62

作者：

Defoort, Michael ^{[1
]}

Murakami, Toshiyuki ^{[2
]}

机构：

[1] Ecole Mines, Dept Comp Sci & Automat Syst, F-59500 Douai, France

[2] Keio Univ, Dept Syst Design Engn, Yokohama, Kanagawa 2238522, Japan

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2009年 / 56卷 / 09期

关键词：

Autonomous bicycle; disturbance observer (DOB); motion control; sliding-mode control (SMC); MOBILE ROBOTS; SYSTEMS; MOTORCYCLES; STABILITY; TRACKING;

D O I：

10.1109/TIE.2009.2017096

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：3357 / 3368

页数：12

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