Robust Control Strategy for Robotic Motorcycle Without Falling Down at Low-Speed Driving

摘要

ABSTRACT: This study discusses robust control problems related to the fall of two-wheel motor vehicles during parking or low-speed driving. The robotic motorcycle includes a new rotary axis that can vary the position of the total center of gravity. Some authors have already reported preliminary control demonstrations using a typical PID controller and simple LQR. Moreover, the mathematical model of a robotic motorcycle derived using multibody dynamics methods and its optimal regulator simulation were developed. However, an experimental investigation of a robust control strategy for practical implementation has not yet been conducted. Therefore, this study proposes a practical method based on applying a sliding mode controller (SMC) to improve robust stability in a real usage environment. Here, we introduce the control system design combining a novel mathematical model, including a minor PID control loop and the SMC, with its hyperplane designed by the frequency-shaped optimal regulator. Finally, its effectiveness is verified by experiments using an actual robotic motorcycle.