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http://ipicyt.repositorioinstitucional.mx/jspui/handle/1010/1781| Gain-scheduled linear quadratic regulator applied to the stabilization of a riderless bicycle | |
| Jorge Aurelio Brizuela Mendoza CARLOS MANUEL ASTORGA ZARAGOZA Arturo Zavala Río FRANCISCO VENUSTIANO CANALES ABARCA MARIO MARTÍNEZ GARCÍA | |
| Acceso Abierto | |
| Atribución-NoComercial-SinDerivadas | |
| https://doi.org/10.1177%2F0959651817707421 | |
| Linear parameter varying Gain scheduling Translational velocity Roll angle Handlebar torque Integral action | |
| "In this article, a gain-scheduling control is designed to achieve the stabilization of a riderless bicycle. The main contribution is the design of a stabilizing control system including integral actions based on an observer and its corroboration through experimental results, with the objective of the stabilization of a riderless bicycle toward its upright position through a torque applied to the handlebar. The bicycle stabilization is achieved even when the translational velocity is varying over time, parameter considered as scheduling variable. The stabilizing system is based on a linear quadratic regulator gain-scheduling control, concluding with the effective application of this scheme on an instrumented prototype." | |
| SAGE Publications | |
| 2017 | |
| Artículo | |
| Brizuela-Mendoza, J. A., Astorga-Zaragoza, C. M., Zavala-Río, A., Canales-Abarca, F., & Martínez-García, M. (2017). Gain-scheduled linear quadratic regulator applied to the stabilization of a riderless bicycle. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 231(8), 669-682. | |
| MATEMÁTICAS | |
| Versión revisada | |
| submittedVersion - Versión revisada | |
| Aparece en las colecciones: | Publicaciones Científicas Control y Sistemas Dinámicos |
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| Fichero | Tamaño | Formato | |
|---|---|---|---|
| ProcInsMechEngPartI231(2017)669.pdf | 2.2 MB | Adobe PDF | Visualizar/Abrir |