Gain Scheduled Controller Design for Balancing an Autonomous Bicycle
Shuai Wang,Leilei Cui,Jie Lai,Sicheng Yang,Xiangyu Chen,Yu Zheng,Zhengyou Zhang,Zhong-Ping Jiang,Shuai Wang,Leilei Cui,Jie Lai,Sicheng Yang,Xiangyu Chen,Yu Zheng,Zhengyou Zhang,Zhong-Ping Jiang
In this paper, the gain scheduling technique is applied to design a balance controller for an autonomous bicycle with an inertia wheel. Previously, two different balance controllers are needed depending on whether the bicycle is stationary or dynamic. The switch between the two different controllers may cause the instability of the autonomous bicycle. Our proposed gain scheduled controller can bal...
