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Stabilizing control design of a motorcycle

Yuan, F 2007, Stabilizing control design of a motorcycle, Masters Thesis, School of Electrical and Computer Engineering, RMIT University.

Document type: Thesis
Collection: Theses
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Title Stabilizing control design of a motorcycle
Author(s) Yuan, F
Year 2007
Abstract This thesis solves the stabilizing control of an autonomous motorcycle. The control of an autonomous motorcycle is a challenging and interesting problem in the field because the plant is under-actuated, unstable and nonlinear. Two major problems that have not been considered in the literature are explicitly solved in our work: (i) the robust control problem of the plant subject to uncertainty and exogenous disturbance; (ii) the non-local stabilization of the nonlinear plant. To achieve the first goal, we propose a robust H_infty controller based on the linearized system, which provides a significant improvement in dealing model uncertainty and disturbance attenuation in comparison with those controllers given by classical linear design tools. To achieve the second goal, we propose a nonlinear controller based on the combination of a nonlinear forwarding method with several other methods for the nonlinear plant through identifying an appropriate upper triangular structure of the nonlinear system. This yields a stability region, the whole upper space above the level ground, such that the trajectory starting from any position in the upper hemi-sphere with arbitrary initial velocities converges to the upright position. Both results are novel and first results of their kinds in control of an autonomous motorcycle. Computer simulations verify the effectiveness of the proposed controllers.
Degree Masters Thesis
Institution RMIT University
School, Department or Centre School of Electrical and Computer Engineering
Keyword(s) Motorcycles -- Design and construction
 
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Created: Mon, 29 Nov 2010, 16:09:00 EST by Catalyst Administrator