Modeling, control and experimental verification on a two-wheeled vehicle with free inclination: An urban transportation system

• Published in: Control engineering practice Vol. 19; no. 7; pp. 744 - 756
• Main Authors: Vermeiren, Laurent, Dequidt, Antoine, Guerra, Thierry Marie, Rago-Tirmant, Hélène, Parent, Michel
• Format: Journal Article
• Language: English
• Published: Kidlington Elsevier Ltd 01-07-2011; Elsevier
• Subjects: Applied sciences; Compensation; Computer science; control theory; systems; Computer systems and distributed systems. User interface; Control system synthesis; Control theory. Systems; Exact sciences and technology; Fundamental areas of phenomenology (including applications); Fuzzy; Fuzzy model; Fuzzy observer; Inverted pendulum; Laws; Modelling and identification; Passengers; Pendulums; Physics; Prototypes; Quadratic Lyapunov stability; Roads; Robust fuzzy control; Software; Solid dynamics (ballistics, collision, multibody system, stabilization...); Solid mechanics; Two-wheeled vehicle; Vehicles; Two-wheeled vehicle; Inverted pendulum; Fuzzy observer; Fuzzy model; Quadratic Lyapunov stability; Robust fuzzy control; Inversed pendulum; Wheel; Motor car; Control program; Solid dynamic; Motor cycle; Continuous time; Modeling; Fuzzy control; Vibration control; Noise pollution; Robustness; System identification; Passenger; Balancing; Road vehicle; Highway; Experimental study; Real time; Real time system; Robust control; Fuzzy logic; Urban transportation; Distributed control; Input output equipment; Lyapunov function
• ISSN: 0967-0661; 1873-6939
• DOI: 10.1016/j.conengprac.2011.04.002

This paper presents the results on the modeling and control of a two-wheeled prototype. The vehicle, named B2, like the Segway, is principally a self-balancing machine whose wheels share a common axis. However, the control objectives are different because the intended use of the two vehicles is different. The Segway behaves like an inverted pendulum (for example: when a driver leans forward, the Segway accelerates forward to prevent the passenger from falling), whereas the task of B2 will be to balance the occupants while rejecting the influence of the road and passengers. Thus, the passenger motion is a disturbance to be rejected. Furthermore, the B2 is intended as an alternative road vehicle and is not for use on sidewalks. Its goal is to reduce problems caused by vehicles in the center of towns (pollution, noise, use of the space). A Takagi–Sugeno fuzzy model has been developed from the prototype parameters. Some real-time robust PDC (Parallel Distributed Compensation) control laws with and without observers were realized in continuous time. A comparison with a linear law and robustness tests are presented. All of the final trials during the experiments were conclusive. In particular, the B2 was stabilized, and the speed followed the state point given by a joystick.