Paper Info
Title
Simulation & road test results on balance and directional control of an autonomous bicycle
Abstract
A control system with a cascaded structure based on PD control is developed to control balance and direction of an autonomous bicycle test platform equipped with roll angle, yaw rate sensors and a microcontroller. Besides stabilizing the platform at the upright position, non-zero equilibrium roll angle control for directional control is also considered. The controller design for the test platform complies with practical restriction imposed by the hardware configuration. A simplified bicycle model was used to conduct simulation tests, and then the same control scenario studied by simulation was implemented on the physical platform. Road test experiments have been performed with data collected, analyzed and compared with the simulation results. The test results validated the proposed strategy of controlling stabilization and direction of a basic bicycle using steering control.
Year
DOI
Venue
2012
10.1109/CCECE.2012.6334836
Electrical & Computer Engineering
Keywords
Field
DocType
PD control,bicycles,cascade control,control system synthesis,microcontrollers,mobile robots,position control,stability,steering systems,PD control,autonomous bicycle test platform,balance control,cascaded structure,control system,controller design,direction control,directional control,hardware configuration,microcontroller,nonzero equilibrium roll angle control,platform stabilization,road test result,simplified bicycle model,simulation test result,stabilization control,steering control,upright position,yaw rate sensor
Controller design,Computer science,Simulation,Control engineering,Microcontroller,Control system,Trajectory,Yaw,Mobile robot,Steering control
Conference
ISSN
ISBN
Citations 
0840-7789 E-ISBN : 978-1-4673-1432-9
978-1-4673-1432-9
1
PageRank 
References 
Authors
0.48
0
3
Name
Order
Citations
PageRank
Louis X. Wang110.48
J. Mikael Eklund210.48
Vijyat Bhalla310.48