NDLI: A hybrid fuzzy decentralized sliding mode under-actuated control for autonomous dynamic balance of a running electrical bicycle including frictional torque and motor dynamics and in the presence of huge uncertainty

Content Provider	IEEE Xplore Digital Library
Author	Chih-Lyang Hwang Hsiu-Ming Wu Ching-Long Shih
Copyright Year	2010
Description	Author affiliation: Department of Electrical Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan (Hsiu-Ming Wu; Ching-Long Shih) \|\| Department of Electrical Engineering, Tamkang University, Tamsui, Taipei County, Taiwan (Chih-Lyang Hwang)
Abstract	Hybrid under-actuated control for the autonomous dynamic balance of a running electrical bicycle including frictional torque and motor dynamics is developed, where includes two control inputs: steering and pendulum voltages, and three system outputs: steering, lean and pendulum angles. Due to the under-actuated feature, two novel reference signals using three system outputs are designed so that the number of control inputs and sliding surfaces is the same. The previous fuzzy decentralized sliding mode under-actuated control (FDSMUC) is first designed. Because the uncertainties of a running electrical bicycle system, caused by different ground conditions, gusts of wind, and interactions among subsystems, are often huge, an extra compensation of learning uncertainty is plunged into FDSMUC to enhance the system performance. We call it as “fuzzy decentralized sliding mode adaptive under-actuated control (FDSMAUC).” To avoid the unnecessary transience caused by uncertainties and control signal and to preserve the balance of the bicycle, the combination of FDSMUC and FDSMAUC with a transition (i.e., Hybrid FDSMUC) is designed. Finally, the compared simulations for the suggested control system among the FDSMUC, FDSMAUC and Hybrid FDSMUC validate the efficiency of the proposed method.
Starting Page	1
Ending Page	8
File Size	764193
Page Count	8
File Format	PDF
ISBN	9781424469192
ISSN	10987584
e-ISBN	9781424469215
DOI	10.1109/FUZZY.2010.5584526
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-07-18
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Uncertainty Bicycles Acceleration Control systems Mathematical model Equations Torque
Content Type	Text
Resource Type	Article
Subject	Applied Mathematics Artificial Intelligence Theoretical Computer Science Software

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

A fuzzy decentralized sliding-mode robust adaptive under-actuated control for autonomous dynamic balance of an electrical bicycle

Fuzzy sliding-mode under-actuated control for autonomous dynamic balance of an electrical bicycle

Cascade Sliding Mode Control for Bicycle Robot

Autonomous dynamic balance of an electrical bicycle using variable structure under-actuated control

Steering and balance controls of an electrical bicycle using integral sliding mode control

Fuzzy Sliding-Mode Underactuated Control for Autonomous Dynamic Balance of an Electrical Bicycle

A hybrid fuzzy sliding-mode control for a class of generalized, under-actuated and uncertain nonlinear dynamic systems

Hybrid fuzzy sliding-mode under-actuated control for trajectory tracking of mobile robot in the presence of friction and uncertainty

Fuzzy decentralized sliding-mode under-actuated trajectory-tracking control for quadrotor unmanned aerial vehicle

A hybrid fuzzy decentralized sliding mode under-actuated control for autonomous dynamic balance of a running electrical bicycle including frictional torque and motor dynamics and in the presence of huge uncertainty

Similar Documents

A fuzzy decentralized sliding-mode robust adaptive under-actuated control for autonomous dynamic balance of an electrical bicycle

Fuzzy sliding-mode under-actuated control for autonomous dynamic balance of an electrical bicycle

Cascade Sliding Mode Control for Bicycle Robot

Autonomous dynamic balance of an electrical bicycle using variable structure under-actuated control

Steering and balance controls of an electrical bicycle using integral sliding mode control

Fuzzy Sliding-Mode Underactuated Control for Autonomous Dynamic Balance of an Electrical Bicycle

A hybrid fuzzy sliding-mode control for a class of generalized, under-actuated and uncertain nonlinear dynamic systems

Hybrid fuzzy sliding-mode under-actuated control for trajectory tracking of mobile robot in the presence of friction and uncertainty

Fuzzy decentralized sliding-mode under-actuated trajectory-tracking control for quadrotor unmanned aerial vehicle

A hybrid fuzzy decentralized sliding mode under-actuated control for autonomous dynamic balance of a running electrical bicycle including frictional torque and motor dynamics and in the presence of huge uncertainty