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Sliding-Mode Control Scheme for an Intelligent Bicycle

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2 Author(s)
Defoort, M. ; Dept. of Comput. Sci. & Autom. Syst., Ecole des Mines de Douai, Douai, France ; Murakami, T.

This paper deals with the robust stabilization and trajectory-tracking problems of a riderless bicycle. A dynamic model, which takes into account geometric-stabilization mechanisms due to bicycle trail, is presented. A posture controller which combines second-order sliding-mode control and disturbance observer is derived. Then, an innovative tracking controller based on the proposed posture controller and the dynamic-inversion framework is designed. Simulation and experimental results on an autonomous bicycle show the performances of the proposed strategy for the stabilization and tracking problems.

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Industrial Electronics, IEEE Transactions on  (Volume:56 ,  Issue: 9 )