PD Controller for Bicycle Model Balancing

Autor:	Anh Khoa Vo, Minh Tam Nguyen, Thanh Nguyen Nguyen, Thien Van Nguyen, Van Khanh Doan, Hoang Chinh Tran, Van Dong Hai Nguyen
Jazyk:	angličtina
Rok vydání:	2018
Předmět:	Re-action wheel pendulum bicycle self-balance PD controller under-actuated system linear control Technology (General) T1-995 Industrial engineering. Management engineering T55.4-60.8 Management information systems T58.6-58.62
Zdroj:	Robotica & Management, Vol 23, Iss 2, Pp 37-41 (2018)
Druh dokumentu:	article
ISSN:	1453-2069 2359-9855
Popis:	Bicycle is a conventional vehicle and it cannot self-balance. An equivalent model is required to be supplied in order to base a control structure for this under-actuated system. Thence, in this paper, authors infer a balancing model of bicycle which is based on re-action wheel pendulum (body of the model can be regarded as a pendulum). PD controller, a popular linear control method, is examined for this model. A structure of this control method is designed for this under-actuated system. Then, through trial and error test, a set of control parameters are selected. In both simulation and experiment, PD controller is proved to stabilize bicycle well.
Databáze:	Directory of Open Access Journals
Externí odkaz:	https://doaj.org/article/5eb14f99be1c43c8bb473331a1f0042e Zobrazit plný text záznamu View record in DOAJ