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http://dx.doi.org/10.5302/J.ICROS.2012.18.6.532

Balancing and Driving Control of a Bicycle Robot  

Lee, Suk-In (Pusan National University)
Lee, In-Wook (Pusan National University)
Kim, Min-Sung (Pusan National University)
He, He (Pusan National University)
Lee, Jang-Myung (Pusan National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.18, no.6, 2012 , pp. 532-539 More about this Journal
Abstract
This paper proposes a balancing and driving control system for a bicycle robot. A reaction wheel pendulum control method is adopted to maintain the balance while the bicycle robot is driving. For the driving control, PID control algorithm with a variable gain adjustment has been developed in this paper, where the gains are heuristically adjusted during the experiments. To measure the angles of the wheels the encoders are used. For the balancing control, a roll controller is designed with a non-model based algorithm to make the shortest cycle. The tilt angle is measured by the fusion of the acceleration and gyroscope sensors, which is used to generate the control input of the roll controller to make the tilt angle zero. The performance of the designed control system has been verified through the real experiments with the developed bicycle robot.
Keywords
bicycle robot; balancing control; reaction wheel pendulum; PID control;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
Times Cited By SCOPUS : 0
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