Observer-Based Control with Hardware-In-The-Loop for Stabilization of a Driverless Two-Wheeled Vehicle

https://doi.org/10.58571/CNCA.AMCA.2024.054

Resumen: This paper presents the design of a control system whose objective is to stabilize a riderless bicycle. This is achieved from two torques applied to the angular positions of the vehicle. Also, the implementation of hardware in the loop is considered because only one of the states of the mathematical model is measured. The design of the control system addresses three important features: considering part of the real system (front frame or handlebars), a state observer and tacking into account these two parts, the solution of the roll angle variable is addressed with the corresponding differential equation (or hardware in the loop).

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Xopo Rodríguez, B.L., Brizuela Mendoza, J.A., Astorga Zaragoza, C.M., Reyes Reyes, J. & Sorcia Vázquez, F.D.J. (2024). Observer-Based Control with Hardware-In-The-Loop for Stabilization of a Driverless Two-Wheeled Vehicle. Memorias del Congreso Nacional de Control Automático 2024, pp. 314-319. https://doi.org/10.58571/CNCA.AMCA.2024.054

Palabras clave

LTI System, LPV System, Observer, Hardware in the loop, Differential Equation

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