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Authors: T. J. Yeh ; Hao-Tien Lu and Po-Hsuan Tseng

Affiliation: Department of Power Mechanical Engineering, National Tsing Hua University, Hsinchu 30013 and Taiwan

Keyword(s): Balancing Control, Bicycle, Convex Combination, Linear Matrix Inequality.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mechatronics Systems ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Vehicle Control Applications

Abstract: In this research, a self-driving bicycle is constructed and the balancing control using the handlebar is studied. The controller is designed based on a model which characterizes the bicycle’s lateral dynamics under speed variations. As the model can be decomposed into a convex combination of four linear subsystems with time-varying coefficients, the proposed controller also consists of a convex combination of four linear, full-state feedback controllers. It is proved that if the full-state feedback controllers satisfy a set of linear matrix inequalities, the bicycle can maintain its lateral stability regardless of speed changes. Both simulations and experiments verify that the proposed controller can achieve robust balancing performance under various operating conditions.

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Paper citation in several formats:
Yeh, T.; Lu, H. and Tseng, P. (2019). Balancing Control of a Self-driving Bicycle. In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-380-3; ISSN 2184-2809, SciTePress, pages 34-41. DOI: 10.5220/0007810600340041

@conference{icinco19,
author={T. J. Yeh. and Hao{-}Tien Lu. and Po{-}Hsuan Tseng.},
title={Balancing Control of a Self-driving Bicycle},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2019},
pages={34-41},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007810600340041},
isbn={978-989-758-380-3},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Balancing Control of a Self-driving Bicycle
SN - 978-989-758-380-3
IS - 2184-2809
AU - Yeh, T.
AU - Lu, H.
AU - Tseng, P.
PY - 2019
SP - 34
EP - 41
DO - 10.5220/0007810600340041
PB - SciTePress

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