Fault Tolerant Control for Polynomial Linear Parameter Varying (LPV) Systems applied to the stabilization of a riderless bicycle

This paper presents the results of a Fault Tolerant Control based on observers for polynomial LPV systems. The main contribution lies in observers, controller, Fault Diagnosis and Isolation unit and Fault Tolerant Control (FTC) design procedure, based on the solution of Parameterized Linear Matrix Inequalities (PLMI) with application to a riderless bicycle dynamics. Further, unlike previous works, this approach takes for its design only the measured outputs provided by the in-built bicycle prototype sensors, eliminating the necessity of additional computations for the control law. The previous fact is viewed as an additional contribution in this development.

[1]  Lei Guo,et al.  A kind of bicycle robot dynamic modeling and nonlinear control , 2010, The 2010 IEEE International Conference on Information and Automation.

[2]  Pierre Apkarian,et al.  Parameterized LMIs in Control Theory , 2000, SIAM J. Control. Optim..

[3]  Arend L. Schwab,et al.  A MULTIBODY DYNAMICS BENCHMARK ON THE EQUATIONS OF MOTION OF AN UNCONTROLLED BICYCLE , 2005 .

[4]  D. Dzung,et al.  Experimental results on LPV stabilization of a riderless bicycle , 2009, 2009 American Control Conference.

[5]  Jerrold E. Marsden,et al.  Control for an autonomous bicycle , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[6]  Pascal Gahinet,et al.  H/sub /spl infin// design with pole placement constraints: an LMI approach , 1994, Proceedings of 1994 33rd IEEE Conference on Decision and Control.

[7]  Mats Larsson,et al.  Stabilization of a Riderless Bicycle [Applications of Control] , 2010, IEEE Control Systems.

[8]  Masaki Yamakita,et al.  Controller design of an autonomous bicycle with both steering and balancer controls , 2009, 2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC).

[9]  S. Prajna,et al.  SOS-based solution approach to polynomial LPV system analysis and synthesis problems , 2005 .

[10]  V. Cerone,et al.  Stabilization of a Riderless Bicycle A Linear-Parameter-Varying Approach , 2022 .

[11]  M. Yamakita,et al.  Automatic control of bicycles with a balancer , 2005, Proceedings, 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics..

[12]  P. Gahinet,et al.  H∞ design with pole placement constraints: an LMI approach , 1996, IEEE Trans. Autom. Control..

[13]  Wen-Shyong Yu,et al.  Steering and balance controls of an electrical bicycle using integral sliding mode control , 2011, 2011 IEEE International Conference on Robotics and Automation.

[14]  Thanh-Son Dao,et al.  Fuzzy Control for Equilibrium and Roll-Angle Tracking of an Unmanned Bicycle , 2006 .

[15]  J. Lofberg,et al.  YALMIP : a toolbox for modeling and optimization in MATLAB , 2004, 2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508).

[16]  Arend L. Schwab,et al.  Benchmark results on the linearized equations of motion of an uncontrolled bicycle , 2005 .