Point-to-point control and set-point regulation by steering in a two-wheeled tilting dynamic model

被引：0
|
作者：
Ailon, Amit [1 ]
机构：
[1] Ben Gurion Univ Negev, Dept Elect & Comp Engn, IL-8410501 Beer Sheva, Israel
来源：
2022 30TH MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED) | 2022年
关键词：
D O I：
10.1109/MED54222.2022.9837218
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The article considers two fundamental problems in two-wheeled vehicle controls. First we deal with the problem of how to change a current state to a final one in the state space of the dynamic model. Then, we suggest a control algorithm for tilt set-point regulation. The suggested control algorithms are obtained by using an augmented model which combines the vehicle dynamics with a steering generator model in which the steering is displayed as a state variable. The considered control algorithms for the highly nonlinear nonminimum phase system are accompanied by relevant examples.
引用
收藏
页码：109 / 114
页数：6
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