You are required to read and agree to the below before accessing a full-text version of an article in the IDE article repository.

The full-text document you are about to access is subject to national and international copyright laws. In most cases (but not necessarily all) the consequence is that personal use is allowed given that the copyright owner is duly acknowledged and respected. All other use (typically) require an explicit permission (often in writing) by the copyright owner.

For the reports in this repository we specifically note that

  • the use of articles under IEEE copyright is governed by the IEEE copyright policy (available at http://www.ieee.org/web/publications/rights/copyrightpolicy.html)
  • the use of articles under ACM copyright is governed by the ACM copyright policy (available at http://www.acm.org/pubs/copyright_policy/)
  • technical reports and other articles issued by M‰lardalen University is free for personal use. For other use, the explicit consent of the authors is required
  • in other cases, please contact the copyright owner for detailed information

By accepting I agree to acknowledge and respect the rights of the copyright owner of the document I am about to access.

If you are in doubt, feel free to contact webmaster@ide.mdh.se

A Comparative Analysis and Design of Controllers for Autonomous Bicycles

Fulltext:


Publication Type:

Conference/Workshop Paper

Venue:

20th European Control Conference


Abstract

In this paper, we develop and compare the performance of different controllers for balancing an autonomous bicycle. The evaluation is carried out both in simulation, using two different models, and experimentally, on a bicycle instrumented with only lightweight components, and leaving the bicycle structure practically unchanged. Two PID controllers, a Linear Quadratic Regulator (LQR), and a fuzzy controller are developed and evaluated in simulations where both noise and disturbances are induced in the models. The simulation shows that the LQR controller has the best performance in the simulation scenarios. Experimental results, on the other hand, show that the PID controllers provide better performance when balancing the instrumented bicycle.

Bibtex

@inproceedings{Persson6175,
author = {Niklas Persson and Tom Andersson and Anas Fattouh and Martin Ekstr{\"o}m and Alessandro Papadopoulos},
title = {A Comparative Analysis and Design of Controllers for Autonomous Bicycles},
month = {June},
year = {2021},
booktitle = {20th European Control Conference},
url = {http://www.es.mdu.se/publications/6175-}
}