Title :
Autonomous Tracking Control and Inverse Kinematics of Unmanned Electric Bicycle System
Author :
Ham, Woonchul ; Choi, Hyunseok
Author_Institution :
Electron. & Inf. Div., Chonbuk Nat. Univ., Chonju
Abstract :
In the former researches for the unmanned bicycle system, we do focus on stabilizing it by using the lateral motion of mass and suggest a control algorithm for steering angle and driving wheel speed for a given desired path. We also suggest a new algorithm for nonlinear inverse kinematic problem which is similar to Piccard´s iterative method in basic concept. We then propose a tracking control strategy by moving the center of load mass left and right respectively based on the nonlinear compensation-like control studied in the former researches. From the computer simulation results, we can show the effectiveness of the proposed control strategy
Keywords :
iterative methods; mobile robots; nonlinear control systems; remotely operated vehicles; robot kinematics; robust control; tracking; Piccard iterative method; autonomous tracking control; inverse kinematics; unmanned electric bicycle system; Bicycles; Control systems; Iterative algorithms; Kinematics; Motion control; Nonlinear dynamical systems; Nonlinear equations; Tracking; Weight control; Wheels; Piccard; autonomous; bicycle; inverse kinematic; load mass; unmanned;
Conference_Titel :
SICE-ICASE, 2006. International Joint Conference
Conference_Location :
Busan
Print_ISBN :
89-950038-4-7
Electronic_ISBN :
89-950038-5-5
DOI :
10.1109/SICE.2006.315703
