Motion control for a two-wheeled vehicle using a self-tuning PID controller

被引：98
|
作者：
Ren, Tsai-Jiun [1 ]
Chen, Tien-Chi [1 ]
Chen, Chun-Jung [1 ]
机构：
[1] Natl Cheng Kung Univ, Dept Engn Sci, Tainan 70101, Taiwan
来源：
CONTROL ENGINEERING PRACTICE | 2008年 / 16卷 / 03期
关键词：
two-wheeled vehicle; self-tuning PID; motion control; stability; neural;
D O I：
10.1016/j.conengprac.2007.05.007
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 presents the motion control and stability analysis of a two-wheeled vehicle (TWV). The TWV is driven using two independent wheel motors, upon which a vehicle body is mounted. A mathematical model of the TWV is obtained using dynamic analysis. The TWV is inherently unstable and its motion is controlled through the actions of the wheel motors. Vehicle action depends on both the desired wheel response and the tilt angle. A self-tuning proportional-integral-derivative (PID) control strategy, based on a deduced model, is proposed for implementing a motion control system that stabilizes the TWV and follows the desired motion commands. The controller parameters are tuned automatically, on-line, to overcome the disturbances and parameter variations. Experimental results are presented to demonstrate the reliability and effectiveness of the proposed control scheme. (c) 2007 Elsevier Ltd. All rights reserved.
引用
收藏
页码：365 / 375
页数：11
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