TY - GEN
T1 - Second order sliding mode control with disturbance observer for bicycle stabilization
AU - Defoort, Michael
AU - Murakami, Toshiyuki
PY - 2008/12/1
Y1 - 2008/12/1
N2 - Controlling a riderless bicycle is a challenging problem because the dynamics are nonlinear. In this paper, an innovative robust control strategy based on 2nd order sliding mode control (SMC) is proposed for the stabilization of an autonomous bicycle. In order to improve overall performance, application of a disturbance observer (DOB) is suggested. The combination of 2nd order SMC and DOB enables to increase the robustness of the system trajectories while avoiding the chattering phenomenon. The proposed control scheme is validated by simulation and experimental results for bicycle stabilization at low and zero velocities.
AB - Controlling a riderless bicycle is a challenging problem because the dynamics are nonlinear. In this paper, an innovative robust control strategy based on 2nd order sliding mode control (SMC) is proposed for the stabilization of an autonomous bicycle. In order to improve overall performance, application of a disturbance observer (DOB) is suggested. The combination of 2nd order SMC and DOB enables to increase the robustness of the system trajectories while avoiding the chattering phenomenon. The proposed control scheme is validated by simulation and experimental results for bicycle stabilization at low and zero velocities.
UR - http://www.scopus.com/inward/record.url?scp=69549106573&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=69549106573&partnerID=8YFLogxK
U2 - 10.1109/IROS.2008.4650685
DO - 10.1109/IROS.2008.4650685
M3 - Conference contribution
AN - SCOPUS:69549106573
SN - 9781424420582
T3 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
SP - 2822
EP - 2827
BT - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
T2 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Y2 - 22 September 2008 through 26 September 2008
ER -