TY - GEN
T1 - Nonlinear balance control of an unmanned bicycle
T2 - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
AU - Cui, Leilei
AU - Wang, Shuai
AU - Lai, Jie
AU - Chen, Xiangyu
AU - Yang, Sicheng
AU - Zhang, Zhengyou
AU - Jiang, Zhong Ping
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/10/24
Y1 - 2020/10/24
N2 - In this paper, nonlinear control techniques are exploited to balance an unmanned bicycle with enlarged stability domain. We consider two cases. For the first case when the autonomous bicycle is balanced by the flywheel, the steering angle is set to zero, and the torque of the flywheel is used as the control input. The controller is designed based on the Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) method. For the second case when the bicycle is balanced by the handlebar, the bicycle's velocity is high, and the flywheel is turned off. The angular velocity of the handlebar is used as the control input and the balance controller is designed based on feedback linearization. In these cases, the global stability of the closed-loop unmanned bicycle is theoretically proved based on Lyapunov theory. The experiments are conducted to validate the efficacy of the proposed nonlinear balance controllers.
AB - In this paper, nonlinear control techniques are exploited to balance an unmanned bicycle with enlarged stability domain. We consider two cases. For the first case when the autonomous bicycle is balanced by the flywheel, the steering angle is set to zero, and the torque of the flywheel is used as the control input. The controller is designed based on the Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) method. For the second case when the bicycle is balanced by the handlebar, the bicycle's velocity is high, and the flywheel is turned off. The angular velocity of the handlebar is used as the control input and the balance controller is designed based on feedback linearization. In these cases, the global stability of the closed-loop unmanned bicycle is theoretically proved based on Lyapunov theory. The experiments are conducted to validate the efficacy of the proposed nonlinear balance controllers.
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U2 - 10.1109/IROS45743.2020.9341150
DO - 10.1109/IROS45743.2020.9341150
M3 - Conference contribution
AN - SCOPUS:85102408042
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 7279
EP - 7284
BT - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 24 October 2020 through 24 January 2021
ER -