Robust Motion Control in Mechanical System with Passivity

S. Shirouchia and T. Murakamib

Department of System Design Engineering, Keio University, 3-14-1, Hiyoshi, Kouhoku, Yokohama, Kanagawa, Japan.


Bicycle is a very useful transportation vehicle. It has many advantages, for example high mobility, cheapness and environmentally friendly vehicle. However, bicycle is an unstable system when zero and low velocity. So, the stabilization control is needed to prevent this disadvantage. The purpose of this research is stabilization of bicycle at a variable velocity including zero velocity. In addition, this research considers the turn motion. To achieve these purposes, Sliding Mode Control (SMC) is applied. Moreover, in order to compensate the influence of the disturbance which doesn’t satisfy the matching condition, SMC combined with CADO for the disturbance estimation and compensation is proposed.

Keywords: Bicycle, Sliding mode control (SMC), Matching condition, Camber angle disturbance observer (CADO).

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