Balancing a bicycle through steering is similar to balancing an inverted pendulum, with a travel-speed-dependent pivot point. This paper derives a speed-dependent balancing controller for a self-balancing bicycle. This controller is based on an identified gray box model. The identification procedure is formulated as a weighted least squares problem with the time-varying parameter of the model. Identification data was generated on a controlled bicycle robot. Excitation experiments were designed to account for the unstable nature of the problem. Based on this identified model, a gain-scheduled controller is derived for a speed-independent closed-loop performance for a speed range. The controller is further implemented on the bicycle and tested for a set of speeds. Tests performed on the bicycle illustrate the gain-scheduled controller’s performance gain.


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    Title :

    Gain-Scheduled Bicycle Balance Controller Based on System Identification


    Additional title:

    Lect.Notes Mechanical Engineering



    Conference:

    Advanced Vehicle Control Symposium ; 2024 ; Milan, Italy September 01, 2024 - September 05, 2024



    Publication date :

    2024-10-04


    Size :

    7 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





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