TY - GEN
T1 - Attitude control of bicycle motion by steering angle and variable COG control
AU - Iuchi, Ko
AU - Niki, Hiroshi
AU - Murakami, Toshiyuki
PY - 2005/12/1
Y1 - 2005/12/1
N2 - As well know, a bicycle is a high efficiency vehicle and is suitable for aging society in the future. In the practical use, however, the bicycle is not always stable and the motion stabilization is required for a widespread application. In an electric bicycle, two strategies are taken up to stabilize the running motion of a bicycle. One is Center Of Gravity (COG) control of bicycle, and the other is a control of steering angle of handle. In the past research, there are few researches that consider an autonomous control of bicycle by using both steering and COG position control. To address this issue, this paper describes a strategy that realizes autonomous motion of bicycle with the use of steering and COG control. Numerical and experimental results are shown to verify the validity of the proposed strategy.
AB - As well know, a bicycle is a high efficiency vehicle and is suitable for aging society in the future. In the practical use, however, the bicycle is not always stable and the motion stabilization is required for a widespread application. In an electric bicycle, two strategies are taken up to stabilize the running motion of a bicycle. One is Center Of Gravity (COG) control of bicycle, and the other is a control of steering angle of handle. In the past research, there are few researches that consider an autonomous control of bicycle by using both steering and COG position control. To address this issue, this paper describes a strategy that realizes autonomous motion of bicycle with the use of steering and COG control. Numerical and experimental results are shown to verify the validity of the proposed strategy.
KW - Attitude control
KW - Bicycle
KW - Disturbance observer
KW - Inverted pendulum
KW - Steering control
UR - http://www.scopus.com/inward/record.url?scp=33749681738&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33749681738&partnerID=8YFLogxK
U2 - 10.1109/IECON.2005.1569222
DO - 10.1109/IECON.2005.1569222
M3 - Conference contribution
AN - SCOPUS:33749681738
SN - 0780392523
SN - 9780780392526
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 2065
EP - 2070
BT - IECON 2005
T2 - IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society
Y2 - 6 November 2005 through 10 November 2005
ER -