Design of Fuzzy Sliding-mode Controller for Bicycle Robot Nonlinear System

The nonlinear characteristics in the bicycle robot dynamic system make the bicycle robot control much more difficult. Aiming at this problem, the fuzzy sliding-mode control method was applied to the bicycle robot nonlinear system. A kind of bicycle robot nonlinear dynamic model presented based on Lagrange method was analyzed and a sliding-mode controller was designed with the method of variable structure control theory. And a fuzzy controller was designed at the aim of chattering reduction and rapid response. The fuzzy controller can tune the parameters of sliding-mode control law automatically according to the relation of system states and switching manifold. The computer simulation results show the efficiency of the control algorithm. And the effect of the fuzzy sliding-mode controller is testified by experiments.

[1]  Lei Guo,et al.  Design of Motion Controller for Bicycle Robot Based on DFL Nonlinear Control Method , 2006, 2006 6th World Congress on Intelligent Control and Automation.

[2]  N. H. Getz.  Internal equilibrium control of a bicycle , 1995, Proceedings of 1995 34th IEEE Conference on Decision and Control.

[3]  Preben Alstrøm,et al.  Learning to Drive a Bicycle Using Reinforcement Learning and Shaping , 1998, ICML.

[4]  T. Murakami,et al.  Self sustaining bicycle robot with steering controller , 2004, The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04..

[5]  Masayoshi Tomizuka,et al.  System dynamics and control of bicycles at high speeds , 2002, Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301).