Gain-scheduled linear quadratic regulator applied to the stabilization of a riderless bicycle

被引：2

作者：

Aurelio Brizuela-Mendoza, Jorge ^{[1
]}

Manuel Astorga-Zaragoza, Carlos ^{[2
]}

Zavala-Rio, Arturo ^{[3
]}

Canales-Abarca, Francisco ^{[4
]}

Martinez-Garcia, Mario ^{[1
]}

机构：

[1] Univ Guadalajara, Ctr Univ Valles, Km 45-5, Ameca 46600, Jalisco, Mexico

[2] Tecnol Nacl Mexico, Ctr Nacl Invest & Desarrollo Tecnol, Cuernavaca, Morelos, Mexico

[3] Inst Potosino Invest Cient & Tecnol AC, San Luis Potosi, Mexico

[4] ABB Corp Res Ctr, Baden, Switzerland

来源：

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING | 2017年 / 231卷 / 08期

关键词：

Linear parameter varying; gain scheduling; translational velocity; roll angle; handlebar torque; integral action; TIME LPV SYSTEMS; FEEDBACK CONTROLLERS; PATH-TRACKING; MOTION; BALANCE; MODEL; POWER; IMPLEMENTATION; MOTORCYCLES; PARAMETERS;

D O I：

10.1177/0959651817707421

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：669 / 682

页数：14

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