@article{ref1,
title="Sliding-mode control for the roll-angle tracking of an unmanned bicycle",
journal="Vehicle system dynamics",
year="2011",
author="Dao, Trung-Kien and Chen, Chih-Keng",
volume="49",
number="6",
pages="915-930",
abstract="This study investigates the roll-angle tracking control of an unmanned bicycle using a sliding-mode controller (SMC). The roll angle is controlled at a specific speed via a simple proportional, derivative (PD) controller to generate input-output data including steering torque as well as roll and steering angles. The collected data are then used to identify a one-input two-output linear model by a prediction-error identification method using parameterisation in a canonical state-space form derived as a Whipple model. Once the linear model is obtained, the SMC can be designed to control the bicycle. Simulations and comparisons with a proportional, integral, derivative (PID) controller show that this SMC is robust against changes and variations in speed as well as external disturbances.<p />",
language="en",
issn="0042-3114",
doi="10.1080/00423114.2010.503810",
url="http://dx.doi.org/10.1080/00423114.2010.503810"
}