TY - GEN
T1 - Gain scheduled controller design for balancing an autonomous bicycle
AU - Wang, Shuai
AU - Cui, Leilei
AU - Lai, Jie
AU - Yang, Sicheng
AU - Chen, Xiangyu
AU - Zheng, Yu
AU - Zhang, Zhengyou
AU - Jiang, Zhong Ping
N1 - Funding Information:
*This work is supported in part by the National Science Foundation under Grant EPCN-1903781, and in part by a gift from the Tencent company. The first two authors contributed equally to this work.
Publisher Copyright:
© 2020 IEEE.
PY - 2020/10/24
Y1 - 2020/10/24
N2 - In this paper, the gain scheduling technique is applied to design a balance controller for an autonomous bicycle with an inertia wheel. Previously, two different balance controllers are needed depending on whether the bicycle is stationary or dynamic. The switch between the two different controllers may cause the instability of the autonomous bicycle. Our proposed gain scheduled controller can balance the autonomous bicycle in both stationary and dynamic cases. A physical system is built and experiments are carried out to demonstrate the effectiveness of the gain scheduled controller.
AB - In this paper, the gain scheduling technique is applied to design a balance controller for an autonomous bicycle with an inertia wheel. Previously, two different balance controllers are needed depending on whether the bicycle is stationary or dynamic. The switch between the two different controllers may cause the instability of the autonomous bicycle. Our proposed gain scheduled controller can balance the autonomous bicycle in both stationary and dynamic cases. A physical system is built and experiments are carried out to demonstrate the effectiveness of the gain scheduled controller.
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U2 - 10.1109/IROS45743.2020.9340949
DO - 10.1109/IROS45743.2020.9340949
M3 - Conference contribution
AN - SCOPUS:85102402750
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 7595
EP - 7600
BT - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Y2 - 24 October 2020 through 24 January 2021
ER -