Robust stabilization of running self-sustaining two-wheeled vehicle

被引：0

作者：

Satoh, Hiroshi ^{[1
]}

Namerikawa, Toru ^{[2
]}

机构：

[1] Nagaoka Univ Technol, Dept Mech Engn, Nagaoka, Niigata 9402188, Japan

[2] Kanazawa Univ, Grad Sch Nat Sci & Technol, Dept Elect Engn & Comp Sci, Kanazawa, Ishikawa 9201192, Japan

来源：

PROCEEDINGS OF THE 2007 IEEE CONFERENCE ON CONTROL APPLICATIONS, VOLS 1-3 | 2007年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper deals with robust stabilization of running self-sustaining two-wheeled vehicle. Recently, some researches about stabilization of two-wheeled vehicle have been reported. These researches have achieved the stabilization running only by the steering control. However, an actual two-wheeled vehicle is running while accompanying stabilization by the rider. We have proposed the stabilization of two-wheeled vehicle in the state of stillness, and have shown the effectiveness. In this research, we compose the control system that aims at the running stabilization of two-wheeled vehicle. We use H-h mixed sensitivity problem to design the controller to achieve stability running even if the mass of two-wheeled vehicle changes. The experimental results show stability running even if the mass of two-wheeled vehicle changed.

引用

页码：819 / +

页数：3

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