Title :
Adaptive Neuro - Fuzzy Controller for Stabilizing Autonomous Bicycle
Author :
Umashankar, N. ; Sharma, Himanshu Dutt
Author_Institution :
Dept. of Mech. Eng., Birla Inst. of Technol. & Sci. (BITS), Pilani
Abstract :
The authors present an adaptive neuro-fuzzy controller for stabilizing an autonomous bicycle system. The controller has been designed and verified using simulation experiments in MATLAB. The controller has been found successful in balancing an autonomous bicycle system by running a generalized bicycle model under its control. The results show that it balances the bicycle within lean values of plusmn2.5deg around equilibrium position.
Keywords :
adaptive control; bicycles; control system synthesis; fuzzy control; fuzzy neural nets; mobile robots; neurocontrollers; road vehicles; stability; adaptive neuro-fuzzy controller design; autonomous bicycle system stabilization; generalized bicycle model; mobile robot; Adaptive control; Bicycles; Control systems; Fuzzy control; Fuzzy neural networks; Fuzzy systems; Mathematical model; Neural networks; Programmable control; Robot kinematics; Autonomous Systems; Mobile Robots; Neuro - Fuzzy Control;
Conference_Titel :
Robotics and Biomimetics, 2006. ROBIO '06. IEEE International Conference on
Conference_Location :
Kunming
Print_ISBN :
1-4244-0570-X
Electronic_ISBN :
1-4244-0571-8
DOI :
10.1109/ROBIO.2006.340214
