This study investigates the roll-angle tracking control of an unmanned bicycle using a sliding-mode controller (SMC). The roll angle is controlled at a specific speed via a simple proportional, derivative (PD) controller to generate input–output data including steering torque as well as roll and steering angles. The collected data are then used to identify a one-input two-output linear model by a prediction-error identification method using parameterisation in a canonical state-space form derived as a Whipple model. Once the linear model is obtained, the SMC can be designed to control the bicycle. Simulations and comparisons with a proportional, integral, derivative (PID) controller show that this SMC is robust against changes and variations in speed as well as external disturbances.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Sliding-mode control for the roll-angle tracking of an unmanned bicycle


    Beteiligte:
    Dao, Trung-Kien (Autor:in) / Chen, Chih-Keng (Autor:in)

    Erschienen in:

    Vehicle System Dynamics ; 49 , 6 ; 915-930


    Erscheinungsdatum :

    2011-06-01


    Format / Umfang :

    16 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Unbekannt




    Sliding-mode control for the roll-angle tracking of an unmanned bicycle

    Dao,T.K. / Chen,C.K. / Da-Yeh Univ.,TW | Kraftfahrwesen | 2011



    Speed-adaptive roll-angle-tracking control of an unmanned bicycle using fuzzy logic

    Chen,C.K. / Dao,T.K. / Da-Yeh Univ.,TW | Kraftfahrwesen | 2010


    Speed-adaptive roll-angle-tracking control of an unmanned bicycle using fuzzy logic

    Chen, Chih-Keng / Dao, Trung-Kien | Taylor & Francis Verlag | 2010