Title :
Experimental results on LPV stabilization of a riderless bicycle
Author :
Andreo, D. ; Cerone, V. ; Dzung, D. ; Regruto, D.
Author_Institution :
ABB Switzerland Ltd., Switzerland
Abstract :
In this paper the problem of designing a control system aiming at automatically balancing a riderless bicycle in the upright position is considered. Such a problem is formulated as the design of a linear-parameter-varying (LPV) state-feedback controller which guarantees stability of the bicycle when the velocity ranges in a given interval and its derivative is bounded. The designed control system has been implemented on a real riderless bicycle equipped with suitable sensors and actuators, exploiting the processing platform ABB PEC80. The obtained experimental results showed the effectiveness of the proposed approach.
Keywords :
control system synthesis; linear systems; position control; remotely operated vehicles; stability; state feedback; vehicle dynamics; LPV stabilization; control system; linear-parameter-varying state-feedback controller; riderless bicycle; Automatic control; Bicycles; Computer simulation; Control systems; Linear feedback control systems; Mathematical model; Nonlinear control systems; Sliding mode control; Stability; Velocity control; Bicycle Dynamics; LPV control;
Conference_Titel :
American Control Conference, 2009. ACC '09.
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-4523-3
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2009.5160397
