Nonlinear Balance Control of an Unmanned Bicycle: Design and Experiments
Nonlinear Balance Control of an Unmanned Bicycle: Design and Experiments
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无人驾驶自行车的非线性平衡控制：设计与实验
DOI：
10.1109/iros45743.2020.9341150
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发表时间：
2020
期刊：
影响因子：
--
通讯作者：
Zhong
中科院分区：
文献类型：
--
作者：
Leilei Cui;Shuai Wang;Jie Lai;Xiangyu Chen;Sicheng Yang;Zhengyou Zhang;Zhong
本文采用非线性控制技术，对扩大稳定域的无人驾驶自行车进行平衡。我们考虑两种情况。在第一种情况下，自动自行车由飞轮平衡，转向角度设为零，并使用飞轮的扭矩作为控制输入。该控制器是基于互连和阻尼分配无源控制（IDA-PBC）方法设计的。对于第二种情况，当自行车被车把平衡时，自行车的速度很高，飞轮关闭。以车把角速度为控制输入，基于反馈线性化设计了平衡控制器。在这种情况下，基于李亚普诺夫理论从理论上证明了闭环无人自行车的全局稳定性。通过实验验证了所提出的非线性平衡控制器的有效性。
In this paper, nonlinear control techniques are exploited to balance an unmanned bicycle with enlarged stability domain. We consider two cases. For the first case when the autonomous bicycle is balanced by the flywheel, the steering angle is set to zero, and the torque of the flywheel is used as the control input. The controller is designed based on the Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) method. For the second case when the bicycle is balanced by the handlebar, the bicycle’s velocity is high, and the flywheel is turned off. The angular velocity of the handlebar is used as the control input and the balance controller is designed based on feedback linearization. In these cases, the global stability of the closed-loop unmanned bicycle is theoretically proved based on Lyapunov theory. The experiments are conducted to validate the efficacy of the proposed nonlinear balance controllers.
连续时间鲁棒动态规划
影响因子：
2.2
作者：
Bian, Tao;Jiang, Zhong-Ping
通讯作者：
Jiang, Zhong-Ping