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Gain-scheduled linear quadratic regulator applied to the stabilization of a riderless bicycle

dc.contributor.authorBrizuela Mendoza, Jorge Aurelio
dc.contributor.authorAstorga Zaragoza, Carlos Manuel
dc.contributor.authorZavala Río, Arturo
dc.contributor.authorCanales Abarca, Francisco
dc.contributor.authorMartínez García, Mario
dc.contributor.editorSAGE Publications
dc.date.accessioned2018-11-15T18:58:50Z
dc.date.available2018-11-15T18:58:50Z
dc.date.issued2017
dc.identifier.citationBrizuela-Mendoza, J. A., Astorga-Zaragoza, C. M., Zavala-Río, A., Canales-Abarca, F., & Martínez-García, M. (2017). Gain-scheduled linear quadratic regulator applied to the stabilization of a riderless bicycle. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 231(8), 669-682.
dc.identifier.urihttp://hdl.handle.net/11627/4760
dc.description.abstract"In this article, a gain-scheduling control is designed to achieve the stabilization of a riderless bicycle. The main contribution is the design of a stabilizing control system including integral actions based on an observer and its corroboration through experimental results, with the objective of the stabilization of a riderless bicycle toward its upright position through a torque applied to the handlebar. The bicycle stabilization is achieved even when the translational velocity is varying over time, parameter considered as scheduling variable. The stabilizing system is based on a linear quadratic regulator gain-scheduling control, concluding with the effective application of this scheme on an instrumented prototype."
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internacional
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/
dc.subjectLinear parameter varying
dc.subjectGain scheduling
dc.subjectTranslational velocity
dc.subjectRoll angle
dc.subjectHandlebar torque
dc.subjectIntegral action
dc.subject.classificationMATEMÁTICAS
dc.titleGain-scheduled linear quadratic regulator applied to the stabilization of a riderless bicycle
dc.typearticle
dc.identifier.doihttps://doi.org/10.1177%2F0959651817707421
dc.rights.accessAcceso Abierto


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Attribution-NonCommercial-NoDerivatives 4.0 Internacional
Except where otherwise noted, this item's license is described as Attribution-NonCommercial-NoDerivatives 4.0 Internacional