Modeling and Control of an Active Stabilizing Assistant System for a Bicycle

Chen, Chih-Keng; Chu, Trung-Dung; Zhang, Xiaodong

doi:10.3390/s19020248

Cited by 17 publications

(6 citation statements)

References 29 publications

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“…This active stabilizing assistant system is designed to provide enhanced stability to the rider. Based on comprehensive simulation results obtained under various driving conditions, the findings suggest that the bicycle outfitted with active stabilizing assistant system requires considerably fewer control actions from the rider compared to its traditional counterpart [22]. In the present study, scissored-pair CMGs arrangement is employed to stabilize the bicycle robot owing to its unique ability to cancel the unwanted torque component.…”

Section: Introductionmentioning

confidence: 96%

Optimal fuzzy control of a two-wheel mobile robot equipped with a control moment gyroscope (CMG) stabilizer: Simulation and experiment

Roshandel,

Tavakolpour-Saleh,

Esmaeilpour

2023

Preprint

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This paper presents the modeling, development, and control of a two-wheel mobile robot equipped with a control moment gyroscope (CMG) stabilizer. The study begins by employing a specific method and selecting alternative generalized coordinates to extract the nonholonomic constraint equations of the robot motion. Subsequently, the dynamic governing equations are obtained using the constrained Lagrangian approach. The balance of the robot is controlled in two states: while stationary and while tracking a certain trajectory. Two distinct control approaches are examined. First, the conventional Feedback Linearization Method is applied, and its performance is illustrated. Next, a Fuzzy control is designed and proposed as an optimal and intelligent controller. The superiority of the fuzzy controller over the conventional method is then demonstrated. The accuracy and reliability of the designed controllers are investigated using MATLAB simulations. The controller's performance is evaluated in three different scenarios: stabilizing the robot when deflected from the vertical position, tracking paths while maintaining balance for two reference trajectories, and developing an experimental bicycle robot equipped with a CMG. In these simulations, the robot balance controller and the robot trajectory tracking controller effectively control the balance and path tracking of the robot. Following the simulations, the bicycle robot equipped with a CMG is developed experimentally. The results obtained from the experimental study are presented and discussed to validate the effectiveness of the proposed controllers. Both simulation and experimental findings confirm the proper performance of the proposed intelligent Fuzzy controller in balancing the robot in stationary states and tracking desired trajectories.

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Section: Introductionmentioning

confidence: 96%

Optimal fuzzy control of a two-wheel mobile robot equipped with a control moment gyroscope (CMG) stabilizer: Simulation and experiment

Roshandel,

Tavakolpour-Saleh,

Esmaeilpour

2023

Preprint

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“…The CMG generates a gyroscopic torque to balance the bicycle, and the most effective structure of the device is that the flywheel of the CMG should spin with respect to an axis parallel to the wheel's spin axis and swing with respect to the bicycle's yaw axis [19]. However, a single CMG generates not only the restoration torque component but also an additional unwanted torque component, so many researchers used a scissored-pair CMG to cancel out the unwanted torque and doubles the restoration torque [23][24][25]. The rotation axis of the reaction wheel is often set along the longitudinal direction of the bicycle wheel to generate a restoration torque [20][21][22].…”

Section: Introductionmentioning

confidence: 99%

Steering control and stability analysis for an autonomous bicycle. Part II. Experiments and a modified linear control law

Liu

Xiong

2023

Preprint

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This paper presents experimental results to verify the reduced dynamics modeling and stability analysis of an autonomous bicycle, following the theoretical framework presented in Part I. A self-fabricated autonomous bicycle is introduced, and experiments are conducted to verify its stability in uniform straight motion (USM) and uniform circular motion (UCM). While the experimental results are qualitatively consistent with the theoretical findings, they also reveal that the stability of the bicycle is affected by uncertainties in the real system, primarily stemming from the drift error of the gyroscope sensor used to measure the bicycle's lean angle. Parameter uncertainty analysis confirms the gyroscope drift as the main source of uncertainty. To compensate for this drift error, a modified linear control law with a time-varying intercept term is proposed. This results in a three-dimensional reduced dynamic system governing the bicycle's controlled motion. Theoretical analysis and experiments demonstrate that the bicycle under the modified linear control law achieves stable USM and UCM with a desired steer angle, and exhibits an interesting phenomenon of a limit cycle motion when the control parameters are set such that the trivial relative equilibrium becomes unstable through a supercritical Hopf bifurcation.

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“…The second category is controlling the auxiliary balancing mechanism, such as control moment gyroscopes (CMGs), mass balancers (MBs) and reaction wheels (RWs). Chen [5] designed a stabilizing assistant system for BR by using CMG. Zheng [6] combined steering and CMG to improve the performance of balance control.…”

Section: Introductionmentioning

confidence: 99%

Online Reinforcement-Learning-Based Adaptive Terminal Sliding Mode Control for Disturbed Bicycle Robots on a Curved Pavement

et al. 2022

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The reaction wheel is able to help improve the balancing ability of a bicycle robot on curved pavement. However, preserving good control performances for such a robot that is driving on unstructured surfaces under matched and mismatched disturbances is challenging due to the underactuated characteristic and the nonlinearity of the robot. In this paper, a controller combining proximal policy optimization algorithms with terminal sliding mode controls is developed for controlling the balance of the robot. Online reinforcement-learning-based adaptive terminal sliding mode control is proposed to attenuate the influence of the matched and mismatched disturbance by adjusting parameters of the controller online. Different from several existing adaptive sliding mode approaches that only tune parameters of the reaching controller, the proposed method also considers the online adjustment of the sliding surface to provide adequate robustness against mismatched disturbances. The co-simulation experimental results in MSC Adams illustrate that the proposed controller can achieve better control performances than four existing methods for a reaction wheel bicycle robot moving on curved pavement, which verifies the robustness and applicability of the method.

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Modeling and Control of an Active Stabilizing Assistant System for a Bicycle

Cited by 17 publications

References 29 publications

Optimal fuzzy control of a two-wheel mobile robot equipped with a control moment gyroscope (CMG) stabilizer: Simulation and experiment

Optimal fuzzy control of a two-wheel mobile robot equipped with a control moment gyroscope (CMG) stabilizer: Simulation and experiment

Steering control and stability analysis for an autonomous bicycle. Part II. Experiments and a modified linear control law

Online Reinforcement-Learning-Based Adaptive Terminal Sliding Mode Control for Disturbed Bicycle Robots on a Curved Pavement

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