Dynamics and Preview Control of a Robotics Bicycle

被引：1

作者：

Bravo M, Diego A. ^{[1
]}

Rengifo R, Carlos F. ^{[1
]}

Acuna B, Wilber ^{[1
]}

机构：

[1] Univ Cauca, Calle 5 4-70, Popayan, Colombia

来源：

ADVANCES IN AUTOMATION AND ROBOTICS RESEARCH | 2020年 / 112卷

关键词：

MOTORCYCLES;

D O I：

10.1007/978-3-030-40309-6_24

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 presents the dynamic model of the Arduino Engineering Kit robotics bicycle. We design and implement a closed loop control strategy (preview control), that minimizes the tracking error and rejects disturbances generated by uncertainties and unmodeled dynamics. The preview control is a servo controller that permits the tracking of desired trajectories in the handlebar, maintaining the stability of the bicycle. Finally, we tested the proposed control strategy on a real robotic bicycle prototype.

引用

页码：248 / 257

页数：10

共 20 条

[1]

AI-Buraiki O, 2014, MED C CONTR AUTOMAT, P380, DOI 10.1109/MED.2014.6961401

[2]

[Anonymous], 2006, IEEE INT C CONTROL A

[3] Analysis of Control Strategies for Autonomous Motorcycles Stabilization and Trajectories Tracking [J].

Assad, Marilia Maurell ;

Meggiolaro, Marco Antonio ;

Speranza Neto, Mauro .

PROCEEDINGS OF DINAME 2017, 2019, :401-416

[4] Bicycle dynamics and control [J].

Åström, KJ ;

Klein, RE ;

Lennartsson, A .

IEEE CONTROL SYSTEMS MAGAZINE, 2005, 25 (04) :26-47

[5]

Bravo D. A., 2018, 2018 IEEE 2 COL C R, P1

[6]

Bravo DA, 2016, 2016 IEEE COLOMBIAN CONFERENCE ON ROBOTICS AND AUTOMATION (CCRA)

[7] Control of a bicycle using virtual holonomic constraints [J].

Consolini, Luca ;

Maggiore, Manfredi .

AUTOMATICA, 2013, 49 (09) :2831-2839

[8] Bicycle Rider Control Modelling for Path Tracking [J].

Edelmann, Johannes ;

Haudinn, Martin ;

Plochl, Manfred .

IFAC PAPERSONLINE, 2015, 48 (01) :55-60

[9]

Horla D, 2015, 2015 INTERNATIONAL CONFERENCE ON INDUSTRIAL ENGINEERING AND SYSTEMS MANAGEMENT (IESM), P998, DOI 10.1109/IESM.2015.7380276

[10]

Huaman-Loayza A.S., 2018, 2018 IEEE XXV International Conference on Electronics, Electrical Engineering and Computing (INTERCON), P1, DOI DOI 10.1109/INTERCON.2018.8526428

← 1 2 →