loading
Papers Papers/2022 Papers Papers/2022

Research.Publish.Connect.

Paper

Paper Unlock

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.

CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 18.119.105.239

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

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

- Science and Technology Publications, Lda.
RESOURCES

Proceedings

Papers

Authors

Ontology

CONTACTS

Science and Technology Publications, Lda
Avenida de S. Francisco Xavier, Lote 7 Cv. C,
2900-616 Setúbal, Portugal.

Phone: +351 265 520 185 (National fixed network call)
Fax: +351 265 520 186
Email: info@scitepress.org

EXTERNAL LINKS

PRIMORIS

INSTICC

SCITEVENTS

CROSSREF

PROCEEDINGS SUBMITTED FOR INDEXATION BY:

dblp

Ei Compendex

SCOPUS

Semantic Scholar

Google Scholar

Microsoft Academic