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- Title
PD CONTROLLER FOR BICYCLE MODEL BALANCING.
- Authors
Anh Khoa Vo; Minh Tam Nguyen; Thanh Nguyen Nguyen; Thien Van Nguyen; Van Khanh Doan; Hoang Chinh Tran; Van Dong Hai Nguyen
- Abstract
Bicycle is a conventional vehicle and it cannot self-balance. An equivalent model is required to be supplied in order to base a control structure for this under-actuated system. Thence, in this paper, authors infer a balancing model of bicycle which is based on re-action wheel pendulum (body of the model can be regarded as a pendulum). PD controller, a popular linear control method, is examined for this model. A structure of this control method is designed for this under-actuated system. Then, through trial and error test, a set of control parameters are selected. In both simulation and experiment, PD controller is proved to stabilize bicycle well.
- Subjects
PID controllers; BICYCLES; LINEAR control systems
- Publication
Robotica & Management, 2018, Vol 23, Issue 2, p37
- ISSN
1453-2069
- Publication type
Article