Referenced Items are not available for this document.
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.
Published in:
Industrial Electronics, IEEE Transactions on
(Volume:56
,
Issue:
9
)
Date of Publication: Sept. 2009
- Page(s):
- 3357 - 3368
- ISSN :
- 0278-0046
- INSPEC Accession Number:
- 10816617
- Digital Object Identifier :
- 10.1109/TIE.2009.2017096
- Product Type:
- Journals & Magazines
- Date of Publication :
- 16 March 2009
- Date of Current Version :
- 11 August 2009
- Issue Date :
- Sept. 2009
- Sponsored by :
- IEEE Industrial Electronics Society
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