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15 May 2019 Linear parameter varying-based control of a riderless bicycle with linear actuators
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Abstract
Riderless bicycles, which belong to the class of narrow autonomous vehicles, offer numerous potentials to improve living conditions in the smart cities of the future. Various obstacles exist in achieving full autonomy for this class of autonomous vehicles. One of these significant challenges lie within the synthesis of automatic control algorithms that provide self-balancing and maneuvering capabilities for this class of autonomous vehicles. Indeed, the nonlinear, underactuated, and non-minimum phase dynamics of riderless bicycles offer rich challenges for automatic control of these autonomous vehicles. In this paper, we report on implementing linear parameter varying (LPV)-based controllers for balancing our constructed autonomous bicycle, which is equipped with linear electric actuators for automatic steering, in the upright position. Experimental results demonstrate the effectiveness of the proposed control strategy.
Conference Presentation
© (2019) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Ronald Smith, Ziad Fawaz, Alireza Mohammadi, Paul Muench, and Sridhar Lakshmanan "Linear parameter varying-based control of a riderless bicycle with linear actuators", Proc. SPIE 11021, Unmanned Systems Technology XXI, 110210C (15 May 2019); https://doi.org/10.1117/12.2519195
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