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

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 diff...