지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2013.10
- 수록면
- 783 - 787 (5page)
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초록· 키워드
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In this paper , an adaptive Self-Tuning Regulator is proposed to control an autonomous bicycle kinematics. The model used for describing the dynamics of the bicycle is Whipple’s bicycle model. The roll (lean) and the steer angle of the bicycle the two outputs of the model and the torques across the roll and steer angle as the two control variables. The identification technique used in here is recursive least square identification and the proposed control strategy is state feed back control with the controller gain calculated using linear quadratic regulator. The autonomous bicycle was tested for varying velocities and it was observed that the adaptive controller gives a good control action of the bicycle model not just within the stable velocity region but outside it as well.
목차
Abstract
1. INTRODUCTION
2. MODEL REPRESENTATIONS AND ANALYSIS
3. CONTROLLING THE KINEMATIC OF MOTORCYCLE
4. SIMULATION
5. CONCLUSION
REFERENCES
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