Robust control design of  autonomous bicycle kinematics

Magdi S. Mahmoud; Omar Al-Buraiki

doi:10.3934/naco.2014.4.181

Article Contents

2014, Volume 4, Issue 3: 181-191. Doi: 10.3934/naco.2014.4.181

This issue Previous Article Next Article Convergence analysis of the weighted state space search algorithm for recurrent neural networks

Robust control design of autonomous bicycle kinematics

Magdi S. Mahmoud^1, and
Omar Al-Buraiki^1,

1.
Systems Engineering Department, King Fahd University of Petroleum and Minerals, P. O. Box 5067, Dhahran 31261

Received: August 2013

Revised: April 2014

Published: August 2014

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Abstract

In this paper, we provide a robust control approach for controlling the autonomous bicycle kinematics with the objective of stabilizing the bicycle steer $\delta$ and roll $\phi$ angles. The dynamical model is the so-called 'Whipples Bicycle Model', where the roll (lean) angle and the steer angle of the bicycle are the two outputs of the model and the torques across the roll and steer angle as the two control variables. Two control design methods are developed based on $H_\infty$ and $H_2$-norm optimization using dynamic output feedback. The ensuing results are compared with an adaptive control scheme. The autonomous bicycle was tested for varying velocities.

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Mathematics Subject Classification: Primary: 58F15, 58F17; Secondary: 53C35.

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