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.


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    Title :

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


    Contributors:

    Published in:

    Vehicle System Dynamics ; 49 , 6 ; 915-930


    Publication date :

    2011-06-01


    Size :

    16 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




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

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



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