Citation

Dao TK, Chen CK. Veh. Syst. Dyn. 2011; 49(6): 915-930.

Copyright

(Copyright © 2011, Informa - Taylor and Francis Group)

DOI

10.1080/00423114.2010.503810

PMID

unavailable

Abstract

This study investigates the roll-angle tracking control of an unmanned bicycle using a sliding-mode controller (SMC). The roll angle is controlled at a specific speed via a simple proportional, derivative (PD) controller to generate input-output data including steering torque as well as roll and steering angles. The collected data are then used to identify a one-input two-output linear model by a prediction-error identification method using parameterisation in a canonical state-space form derived as a Whipple model. Once the linear model is obtained, the SMC can be designed to control the bicycle. Simulations and comparisons with a proportional, integral, derivative (PID) controller show that this SMC is robust against changes and variations in speed as well as external disturbances.