Balancing a Riderless Bicycle with Adaptive Fuzzy Sliding Mode Control and Gyroscopic Balancer
Date Issued
2015
Date
2015
Author(s)
Chi, Cheng-Hung
Abstract
A riderless bicycle has been developed with a gyroscopic balancer controller by a Fuzzy Sliding Mode Controller (FSMC) and an Adaptive Fuzzy Sliding Mode Controller (AFSMC). The FSMC controller has first been implemented because it has better performance at controlling nonlinear systems than the one with PID. The FSMC can also reduce the chattering phenomenon caused by SMC and the effect of linearizing a nonlinear system. Compared with other balancers, the gyroscopic balancer has a couple of advantages, such as faster system response, lower mass ratio of balancer to bicycle and relatively larger moment. To demonstrate the attributes stated above, we designed and conducted experiments, including the balancing of unmoving bicycle, unmoving bicycle with external impacts, as well as the bicycle moving forward and turning. The experimental results shows that the bicycle can overcome jolts, uneven terrain and external disturbances. Furthermore, since the results of experiments are consistent with the ones of the simulation, it validates the derived bicycle dynamics model with the gyroscopic balancer and proves its robustness. However, the system’s ability to resist continuous disturbance is not strong enough because of the limitation on the tilt angle of the gyroscopic balancer. Hence, we modified the control strategy by using AFSMC despite the fact that the combination of FSMC and gyroscopic balancer performed well than others. From the simulations in chapter IV, it shows that the AFSMC has better performance at resisting continuous disturbances than FSMC does. Furthermore, the abilities to balance the unmoving bicycle or moving bicycle in any case are no less than FSMC. Thus, the AFSMC is employed to replace the FSMC. The designs of adaptive law and estimation law of AFSMC are based on the Lyapunov function to ensure the stability of the system.
Subjects
Riderless bicycle
Gyroscopic balancer
FSMC
AFSMC
Balancing control
Type
thesis
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