PD Controller for Bicycle Model Balancing
Journal Title: Robotica & Management - Year 2018, Vol 23, Issue 2
Abstract
Bicycle is a conventional vehicle and it cannot self-balance. An equivalent model is required to be supplied in order to base a control structure for this under-actuated system. Thence, in this paper, authors infer a balancing model of bicycle which is based on re-action wheel pendulum (body of the model can be regarded as a pendulum). PD controller, a popular linear control method, is examined for this model. A structure of this control method is designed for this under-actuated system. Then, through trial and error test, a set of control parameters are selected. In both simulation and experiment, PD controller is proved to stabilize bicycle well.
Authors and Affiliations
Anh Khoa Vo, Minh Tam Nguyen, Thanh Nguyen Nguyen, Thien Van Nguyen, Van Khanh Doan, Hoang Chinh Tran, Van Dong Hai Nguyen
Keywords
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- EP ID EP430679
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