| Autor: |
Brizuela-Mendoza, Jorge Aurelio, Astorga-Zaragoza, Carlos Manuel, Zavala-Río, Arturo, Canales-Abarca, Francisco, Martínez-García, Mario |
| Zdroj: |
Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems & Control Engineering; Sep2017, Vol. 231 Issue 8, p669-682, 14p |
| Abstrakt: |
In this article, a gain-scheduling control is designed to achieve the stabilization of a riderless bicycle. The main contribution is the design of a stabilizing control system including integral actions based on an observer and its corroboration through experimental results, with the objective of the stabilization of a riderless bicycle toward its upright position through a torque applied to the handlebar. The bicycle stabilization is achieved even when the translational velocity is varying over time, parameter considered as scheduling variable. The stabilizing system is based on a linear quadratic regulator gain-scheduling control, concluding with the effective application of this scheme on an instrumented prototype. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
|
