Citation

Dao TK, Chen CK. Asian J. Control 2013; 15(4): 1036-1050.

Copyright

(Copyright © 2013)

DOI

10.1002/asjc.643

PMID

unavailable

Abstract

In this study, a genetic-fuzzy control system is used to control a riderless bicycle where control parameters can adapt to the speed change of the bicycle. The equations of motion are developed for a bicycle with constraints of rolling-without-slipping contact condition between the wheels and ground. This controller consists of two loops: the inner is a roll-angle-tracking controller which generates steering torque to control the roll angle while guaranteeing the stability, and the outer is a path-tracking controller which generates the reference roll angle for the inner loop. The inner loop is a sliding-mode controller (SMC) designed on the basis of a linear model obtained from a system identification process. By defining a stable sliding surface of error dynamics and an appropriate Lyapunov function, the bicycle can reach the roll-angle reference in a finite time and follow that reference without chattering. The outer loop determines the proper reference roll-angle by using a fuzzy-logic controller (FLC) in which previewing and tracking errors are taken into consideration. The robustness of the proposed controller against speed change and external disturbances is verified by simulations.

Language: en