{"title":"Research on the Lateral Balance Control of a Bicycle Robot","authors":"W. Zhuang, Ruixin Zhang, X. Su, Yonghua Huang","doi":"10.1145/3366194.3366328","DOIUrl":null,"url":null,"abstract":"In this paper, we focus on a bicycle robot, and discussed the topic how to keep the robot's lateral balance by steering. Firstly, we proposed a dynamical model for the robot by Chaplygin Equation. The proposed model suggests that there should be 3 independent general velocities and 2 driving torques in the system. With the model, we presents a controller for regulating the lateral rolling angle of the bicycle robot by using Global Terminal Sliding Mode Control methodology. As a summary, by taking into account the disturbance of the leaning angle of the frame and the driving velocity of the actuated front-wheel, numerical simulations were seriously performed in Matlab/Simulink, and the results validate the correctness of our dynamical model and the effectiveness of our control algorithm.","PeriodicalId":105852,"journal":{"name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2019-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1145/3366194.3366328","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
In this paper, we focus on a bicycle robot, and discussed the topic how to keep the robot's lateral balance by steering. Firstly, we proposed a dynamical model for the robot by Chaplygin Equation. The proposed model suggests that there should be 3 independent general velocities and 2 driving torques in the system. With the model, we presents a controller for regulating the lateral rolling angle of the bicycle robot by using Global Terminal Sliding Mode Control methodology. As a summary, by taking into account the disturbance of the leaning angle of the frame and the driving velocity of the actuated front-wheel, numerical simulations were seriously performed in Matlab/Simulink, and the results validate the correctness of our dynamical model and the effectiveness of our control algorithm.