Abstract
This paper deals with robust stabilization of running self-sustaining two-wheeled vehicle with varying running speed and mass variations. Recently, there have been a lot of research results about stabilization of two-wheeled vehicle. These researches have achieved the stable running only by the steering control. However, an actual two-wheeled vehicle is stabilized by not only the steering control, but the control of a vehicle's center of gravity. We have proposed the stabilization control method of two-wheeled vehicle in the state of stillness, and have shown the effectiveness of proposed approach. In this research, we construct the control system for the running stabilization of two-wheeled vehicle. H∞ control problem is used to design the controller to achieve running stability even if the running speed and the mass of two-wheeled vehicle would change. The experimental results show effectiveness of proposed approach for robustness.
Original language | English |
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Pages (from-to) | 882-889 |
Number of pages | 8 |
Journal | Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C |
Volume | 75 |
Issue number | 752 |
DOIs | |
Publication status | Published - 2009 Apr |
Externally published | Yes |
Keywords
- Attitude control
- Mass variation
- Robust running stabilization
- Self-sustaining two-wheeled vehicle
- Varying running speed
ASJC Scopus subject areas
- Mechanics of Materials
- Mechanical Engineering
- Industrial and Manufacturing Engineering