教師資料查詢 | 類別: 期刊論文 | 教師: 黃志良 CHIH-LYANG HUANG (瀏覽個人網頁)

標題:Fuzzy sliding-mode under-actuated control for autonomous dynamic balance of an electrical bicycle
學年97
學期2
出版(發表)日期2009/05/01
作品名稱Fuzzy sliding-mode under-actuated control for autonomous dynamic balance of an electrical bicycle
作品名稱(其他語言)
著者Hwang, Chih-Lyang; Wu, Hsiu-Ming; Shih, Ching-Long
單位淡江大學電機工程學系
出版者Piscataway: Institute of Electrical and Electronics Engineers
著錄名稱、卷期、頁數IEEE Transactions on Control Systems Technology 17(3), pp.658-670
摘要The purpose of this paper is to stabilize the running motion of an electrical bicycle. In order to do so, two strategies are employed in this paper. One is to control the bikepsilas center of gravity (CG), and the other is to control the angle of the bikepsilas steering handle. In addition, the proposed system produces three outputs that will affect the dynamic balance of an electrical bicycle: the bikepsilas pendulum angle, lean angle, and steering angle. Based on the data of input-output, two scaling factors are employed to normalize the sliding surface and its derivative. According to the concept of if-then rule, an appropriate rule table for the ith subsystem is obtained. Then the output scaling factor based on Lyapunov stability is determined. The proposed control method used to generate the handle torque and pendulum torque is called fuzzy sliding-mode under-actuated control (FSMUAC). The purpose of using the FSMUAC is the huge uncertainties of a bicycle system often caused by different ground conditions and gusts of wind; merely ordinary proportional-derivative-integral (PID) control method or other linear control methods usually do not show good robust performance in such situations.
關鍵字Dynamic balance;Electrical bicycle;Lyapunov stability;Modified proportional-derivative control;Variable structure under-actuated control
語言英文
ISSN1063-6536
期刊性質國外
收錄於SCI;EI
產學合作
通訊作者Hwang, Chih-Lyang; Wu, Hsiu-Ming; Shih, Ching-Long
審稿制度
國別美國
公開徵稿
出版型式紙本
相關連結
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