Fault Tolerant Control for Polynomial Linear Parameter Varying (LPV) Systems applied to the stabilization of a riderless bicycle

Mendoza, Jorge A. Brizuela; Astorga‐Zaragoza, C.M.; Zavala‐Río, Arturo; Canales-Abarca, F.; Reyes-Reyes, J.

doi:10.23919/ecc.2013.6669395

Cited by 5 publications

(3 citation statements)

References 12 publications

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“…The optimal linear preview control theory has been used in dealing with the trajectory-tracked problem of bicycles [27]. Some researchers attributed the balance of bicycles as a linear matrix inequality (LMI) feasibility problem [34,36,37]. Baquero-Surez et al [38] proposed a two-stage observer-based feedback control approach to stabilize the bicycle in its upright position.…”

Section: Control Methods and Controller Designmentioning

confidence: 99%

“…Nevertheless, the linearized Carvallo-Whipple model is established based on the assumptions of small lean and steer angles as well as constant moving speed. Therefore, when extending the linearized Carvallo-Whipple model into the case of bicycles with a varying forward speed [36][37][38], it should be corrected by adding an additional stiffness term [39]. In addition, this model cannot be used to study the stability of bicycles in circular motion since the lean and steer angles in this case are no longer small [40].…”

Section: Modeling Of Bicycle Dynamicsmentioning

confidence: 99%

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Steering Control and Stability Analysis for an Autonomous Bicycle through Reduced Dynamics with Servo-Constraints

Liu

xiong

2022

Preprint

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Stability of rider-controlled bicycles is related to the appropriate coupling between leaning and steering. Inspired by this driving experience, we propose a linear control law between steer and lean angles to balance motion of an unmanned bicycle. The selection of the control parameters is based on stability analysis for the controlled bicycle dynamics, in which the control law and the constant rear-wheel velocity ω0 serve as servo-constraints imposed to the bicycle system. To facilitate the stability analysis of the controlled motion, we use tools from geometric mechanics to reduce the bicycle's dynamics, leading to a two-dimensional dynamic system. We thereafter study its relative equilibria and related stability. Theoretical results show that there is a critical value of ωc, above which the bicycle can move in a stable uniform straight forward motion, and below which a pair of relative equilibria related to stable uniform circular motion exist. The driving rule of steering toward a fall (STF) and counter-steering (CST) can also be explained theoretically. Finally, we fabricate a powered autonomous bicycle and propose an error correction algorithm to eliminate the drift error of the gyroscope sensor. Our experimental results are in good agreement with the theoretical predictions. Generally, this paper presents the mathematical basis for designing the more advanced and intelligent autonomous bicycles, and may find potential applications in other vehicle systems.

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Section: Control Methods and Controller Designmentioning

confidence: 99%

Section: Modeling Of Bicycle Dynamicsmentioning

confidence: 99%

Steering Control and Stability Analysis for an Autonomous Bicycle through Reduced Dynamics with Servo-Constraints

Liu

xiong

2022

Preprint

View full text Add to dashboard Cite

show abstract

“…24 The control algorithm for trajectory tracking and balancing of an autonomous motorcycle has been developed with a nonlinear controller designed to handle the vehicle balancing 25 and, finally, studies related to the riderless bicycle system from the point of view of fault diagnosis and isolation and fault tolerant control can be found. 26–28 As shown through the research works previously mentioned, it is possible to conclude that the bicycle dynamics and gain-scheduling techniques are considered as an important and interesting research topic in many different areas. Thus, the results presented in this article are related to the stabilization of a riderless bicycle by means of a gain-scheduled linear quadratic regulator (LQR) control with integral action based on a Luenberger observer, aiming at its implementation on an instrumented prototype.…”

Section: Introductionmentioning

confidence: 99%

Gain-scheduled linear quadratic regulator applied to the stabilization of a riderless bicycle

Mendoza

Astorga‐Zaragoza

Zavala‐Río

et al. 2017

Proceedings of the Institution of Mechanical Engineers, Part I:

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In this article, a gain-scheduling control is designed to achieve the stabilization of a riderless bicycle. The main contribution is the design of a stabilizing control system including integral actions based on an observer and its corroboration through experimental results, with the objective of the stabilization of a riderless bicycle toward its upright position through a torque applied to the handlebar. The bicycle stabilization is achieved even when the translational velocity is varying over time, parameter considered as scheduling variable. The stabilizing system is based on a linear quadratic regulator gain-scheduling control, concluding with the effective application of this scheme on an instrumented prototype.

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A robust two-stage active disturbance rejection control for the stabilization of a riderless bicycle

et al. 2018

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Fault Tolerant Control for Polynomial Linear Parameter Varying (LPV) Systems applied to the stabilization of a riderless bicycle

Cited by 5 publications

References 12 publications

Steering Control and Stability Analysis for an Autonomous Bicycle through Reduced Dynamics with Servo-Constraints

Steering Control and Stability Analysis for an Autonomous Bicycle through Reduced Dynamics with Servo-Constraints

Gain-scheduled linear quadratic regulator applied to the stabilization of a riderless bicycle

A robust two-stage active disturbance rejection control for the stabilization of a riderless bicycle

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