Title :
Experimental Study of Automatic Control of Bicycle with Balancer
Author :
Yamakita, M. ; Utano, A. ; Sekiguchi, K.
Author_Institution :
Dept. of Mech. & Cont. Eng., Tokyo Inst. of Technol.
Abstract :
In this paper, trajectory tracking and balancing control for autonomous bicycles with a balancer are discussed. In the proposed control method, an input-output linearization is applied for trajectory tracking control and a nonlinear stabilizing control is used for the balancing control. Even though control methods are designed independently, it is shown by several numerical simulations and experiments using a detail model and a real electric motor bike that the stability of the bicycles is ensured with the method even when the desired speed is zero and trajectory tracking to desired ones are achieved
Keywords :
bicycles; electric vehicles; mobile robots; nonlinear control systems; position control; stability; automatic bicycle control; autonomous bicycles; balancing control; electric motor bike; input-output linearization; nonlinear stabilizing control; trajectory tracking control; Automatic control; Bicycles; Constraint theory; Control systems; Equations; Flywheels; Motion control; Numerical simulation; Trajectory; Wheels;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.282281