Name
Abstract | ||
|---|---|---|
There are two theoretical methods by which a two wheeled vehicle oriented in tandem can be stabilized: dynamic stabilization and control moment gyroscope (CMG) stabilization. Dynamic stabilization utilizes tactical steering techniques to trigger a lean in the vehicle in the intended direction for balancing, while CMG stabilization employs the reactive precession torque of a high speed flywheel about an axis that will act to balance the vehicle. Of these two, CMG stabilization offers greater advantages for static vehicles. This paper proposes a first order sliding mode controller (SMC) design to control the CMG and stabilize a bicycle at zero-forward velocity. This study also compares the SMC method to a PID controller to validate the advantages of the SMC controller for the highly non-linear system dynamics of static stabilization. The result of two experimental setups are presented and discussed. The first experimental platform is a single degree of freedom (DOF) inverted pendulum and the second is a three DOF bicycle. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/ACC.2014.6859392 | American Control Conference |
Keywords | Field | DocType |
bicycles,control system synthesis,gyroscopes,nonlinear control systems,remotely operated vehicles,stability,three-term control,variable structure systems,velocity control,CMG stabilization,PID controller,SMC design,control moment gyroscope,dynamic stabilization,first order sliding mode controller design,gyroscopic stabilization,high speed flywheel,nonlinear system dynamics,precession torque,proportional-integral-derivative controller,tactical steering techniques,two wheeled vehicle,unmanned bicycle,zero-forward velocity,Autonomous systems,Control applications,Variable-structure/sliding-mode control | Control theory,Inverted pendulum,Torque,PID controller,Computer science,Control theory,Flywheel,Control engineering,Variable structure control,Control moment gyroscope,Sliding mode control | Conference |
ISSN | Citations | PageRank |
0743-1619 | 4 | 0.55 |
References | Authors | |
2 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Yetkin, H. | 1 | 5 | 1.12 |
| Kalouche, S. | 2 | 4 | 0.55 |
| Vernier, M. | 3 | 4 | 0.55 |
| Colvin, G. | 4 | 4 | 0.55 |