NDLI: Robust multivariable dynamic surface control for position tracking of a bicycle

Content Provider	IEEE Xplore Digital Library
Author	Mathieu, J.L. Hedrick, J.K.
Copyright Year	2010
Description	Author affiliation: Dept. of Mech. Eng., Univ. of California, Berkeley, CA, USA (Mathieu, J.L.; Hedrick, J.K.)
Abstract	This paper considers position tracking control of a bicycle modeled as a four-state nonlinear dynamic system, with two inputs: the angular velocity of the handle bars and the forward velocity of the bicycle. The performance of a robust multivariable dynamic surface controller was compared to that of a multivariable controller using feedback linearization. In order to design both controllers, the matched four-state system was extended into a mismatched six-state system, with two inputs: the angular velocity of the handle bars and the jerk (second derivative of the forward velocity) of the bicycle. Integrating the jerk we approximate the necessary forward velocity input. We assume that the disturbances in the original channels are bounded, and we derive state-dependent disturbance bounds for the new channels. These bounds are used in the design of the dynamic surface controller. Both controllers perform well in the absence of disturbances. The dynamic surface controller is more robust when disturbances are introduced; however, a large control effort is required to reject the disturbances.
Starting Page	1159
Ending Page	1165
File Size	1665080
Page Count	7
File Format	PDF
ISBN	9781424474264
ISSN	07431619
e-ISBN	9781424474271
DOI	10.1109/ACC.2010.5530985
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-06-30
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Robust control Bicycles Nonlinear control systems Sliding mode control Linear feedback control systems Control systems Nonlinear dynamical systems Vehicle dynamics Angular velocity control Angular velocity
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Global exact tracking for uncertain multivariable linear systems by output feedback sliding mode control

Experimental results on LPV stabilization of a riderless bicycle

Design of Fuzzy Sliding-mode Controller for Bicycle Robot Nonlinear System

Sliding mode controller for automatic path tracking of vehicles

Quasi-Continuous Higher Order Sliding-Mode Controllers for Spacecraft-Attitude-Tracking Maneuvers

Sliding Mode Output Tracking of Uncertain Nonlinear Systems with Unknown Control Direction

Causal nonminimum-phase tracking in nonlinear systems: servo-compensator enforced via sliding mode control

Linear matrix inequality based dynamic output feedback sliding mode control for uncertain plants

Robust output feedback tracking control for a class of MIMO nonlinear systems

Robust multivariable dynamic surface control for position tracking of a bicycle

Similar Documents

Global exact tracking for uncertain multivariable linear systems by output feedback sliding mode control

Experimental results on LPV stabilization of a riderless bicycle

Design of Fuzzy Sliding-mode Controller for Bicycle Robot Nonlinear System

Sliding mode controller for automatic path tracking of vehicles

Quasi-Continuous Higher Order Sliding-Mode Controllers for Spacecraft-Attitude-Tracking Maneuvers

Sliding Mode Output Tracking of Uncertain Nonlinear Systems with Unknown Control Direction

Causal nonminimum-phase tracking in nonlinear systems: servo-compensator enforced via sliding mode control

Linear matrix inequality based dynamic output feedback sliding mode control for uncertain plants

Robust output feedback tracking control for a class of MIMO nonlinear systems

Robust multivariable dynamic surface control for position tracking of a bicycle