Precise Bicycle Modeling and Model-based Stabilization Control on State Dependent Riccati Equation

被引：0
|
作者：
Hatano, Ryuma [1 ]
Tani, Takuya [1 ]
Wada, Takayuki [1 ]
Iwase, Masami [1 ]
机构：
[1] Tokyo Denki Univ, Dept Robot & Mechatron, Adachi Ku, 5 Senju Asahi Cho, Tokyo 1208551, Japan
来源：
2017 IEEE CONFERENCE ON CONTROL TECHNOLOGY AND APPLICATIONS (CCTA 2017) | 2017年
关键词：
DYNAMICS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we aim to develop a precise bicycle model which captures characteristic bicycle behavior such as contact point motion on a surface, front fork effect and centrifugal force, which affects bicycle stability especially in the low-speed or high-speed case. From a historical viewpoint, some of them have been often neglected in the conventional modeling process, and they have caused instability in the low and/or high speed range even though a stabilizing control based on each model has been applied to the bicycle. State Dependent Riccati Equation control scheme utilizes the precise bicycle model to realize a nonlinear controller working sufficiently in low/high speed range. The effectiveness of the proposed method is verified through numerical simulation and comparison of the conventional "Whipple model" with respect to the region of attraction.
引用
收藏
页码：369 / 376
页数：8
相关论文
共 50 条
  • [21] A state-dependent Riccati equation-based estimator approach for HIV feedback control
    Banks, HT
    Kwon, HD
    Toivanen, JA
    Tran, HT
    OPTIMAL CONTROL APPLICATIONS & METHODS, 2006, 27 (02): : 93 - 121
  • [22] State Dependent Riccati Equation Based Sliding Mode Control For Nonlinear Systems With Mismatched Uncertainities
    Bicer, Orcun
    Salamci, Metin U.
    Kodalak, Fettah
    PROCEEDINGS OF THE 2016 17TH INTERNATIONAL CARPATHIAN CONTROL CONFERENCE (ICCC), 2016, : 54 - 59
  • [23] STABILIZATION OF RICCATI EQUATION WITH STATE DELAYS IN HILBERT SPACES
    Sangapate, P.
    ADVANCES IN DIFFERENTIAL EQUATIONS AND CONTROL PROCESSES, 2009, 4 (02): : 113 - 118
  • [24] State-dependent Riccati equation-based robust dive plane control of AUV with control constraints
    Naik, Mugdha S.
    Singh, Sahjendra N.
    OCEAN ENGINEERING, 2007, 34 (11-12) : 1711 - 1723
  • [25] Nonlinear Control Strategy based on Discrete-Time State Dependent Riccati Equation for Electronic Throttle Control
    Lima, Jeferson J.
    Santos, Max M. D.
    Tusset, Angelo M.
    Bassinello, Dailhane G.
    Janzen, Frederic C.
    Balthazar, Jose M.
    2016 12TH IEEE/IAS INTERNATIONAL CONFERENCE ON INDUSTRY APPLICATIONS (INDUSCON), 2016,
  • [26] Decentralized Model Reference Adaptive Control Design for Nonlinear Systems; State Dependent Riccati Equation Approach
    Sahami, Farhad
    Salamci, Metin U.
    2015 16TH INTERNATIONAL CARPATHIAN CONTROL CONFERENCE (ICCC), 2015, : 437 - 442
  • [27] PACKET-LOSS-DEPENDENT STABILIZATION OF MODEL-BASED NETWORKED CONTROL SYSTEMS
    Song, Yan
    Wang, Jingcheng
    Shi, Yuanhao
    Fang, Xiaosheng
    ASIAN JOURNAL OF CONTROL, 2013, 15 (05) : 1356 - 1365
  • [28] Self-Stabilization of a Riderless Bicycle With a Control Moment Gyroscope via Model-based Active Disturbance Rejection Control
    Tamayo-Leon, Sergio
    Pulido-Guerrero, Santiago
    Coral-Enriquez, Horacio
    2017 IEEE 3RD COLOMBIAN CONFERENCE ON AUTOMATIC CONTROL (CCAC), 2017,
  • [29] Consistent nonlinear state-dependent Riccati equation control on the inverted pendulum
    Wang Z.-S.
    Zhang X.-M.
    Mei S.-W.
    Kongzhi Lilun Yu Yingyong/Control Theory and Applications, 2020, 37 (04): : 739 - 746
  • [30] State feedback stabilization of model-based networked control systems with uniform quantization
    Wei, Pan
    Wen, Wangzhi
    Ge, Guo
    2007 IEEE INTERNATIONAL CONFERENCE ON INTEGRATION TECHNOLOGY, PROCEEDINGS, 2007, : 760 - +
12345