This paper presents the development of dynamic equations and roll-angle-tracking controller of an unmanned bicycle. First, the equations of motion and constraints of a bicycle with rolling-without-slipping contact condition between wheels and ground are developed using Lagrange's equations. The equations are then used to implement the simulation of the bicycle dynamics. With the bicycle model, a fuzzy-logic controller, which is adaptive to the speed change is implemented to control the bicycle to follow the roll-angle commands. The controller parameters where fuzzy membership functions are presented by scaling factors and deforming coefficients are optimised using genetic algorithms. Results show that the bicycle can follow the roll-angle command with short time delay and the control structure can adapt to a wide range of speed.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

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


    Weitere Titelangaben:

    Geschwindigkeitsadaptive Querneigungswinkelnachführung eines unbemannten Fahrrades mit Hilfe der Fuzzy-Logik


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


    Erscheinungsdatum :

    2010


    Format / Umfang :

    15 Seiten, 14 Bilder, 3 Tabellen, 17 Quellen




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    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



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

    Dao, Trung-Kien / Chen, Chih-Keng | Taylor & Francis Verlag | 2011


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

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