A simple kinematic and dynamic formulation of an unmanned electric bicycle is derived. The controllability of the stabilization problem of bicycle is checked. A new control algorithm is proposed for the self-stabilization of unmanned bicycle with bounded wheel speed and steering angle by using nonlinear control based on the sliding patch and stuck phenomena which was introduced by W. Ham. A nonholonomic motion planning is presented that can stabilize the tilt angle of the unmanned electric bicycle. Two motion planning algorithms are recommended. The first one only guarantees the stabilization of the tilt angle of bicycle without restriction of its location, that is the bicycle can go any where without failing down. The second one guarantees not only the stabilization but the regional boundedness of its location. A sort of optimal control strategy is recommended for steering angle and driving wheel speed that make the length of bicycle's path be the shortest without making the bicycle pass over the given boundary of some region. From the computer simulation results the validity of the proposed control algorithm is proved.
Control algorithm for stabilization of tilt angle of unmanned electric bicycle
Regelungsalgorithmus für die Stabilisierung des Neigungswinkels eines fahrerlosen, elektrischen Fahrrades
2002
6 Seiten, 5 Bilder, 8 Quellen
Conference paper
English