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Abstract: In this research, a self-driving bicycle is constructed and the balancing control using the handlebar is stud-
ied. The controller is designed based on a model which characterizes the bicycle’s lateral dynamics under
speed variations. As the model can be decomposed into a convex combination of four linear subsystems
with time-varying coefficients, the proposed controller also consists of a convex combination of four linear,
full-state feedback controllers. It is proved that if the full-state feedback controllers satisfy a set of linear
matrix inequalities, the bicycle can maintain its lateral stability regardless of speed changes. Both simulations
and experiments verify that the proposed controller can achieve robust balancing performance under various
operating conditions.
34
Yeh, T., Lu, H. and Tseng, P.
Balancing Control of a Self-driving Bicycle.
DOI: 10.5220/0007810600340041
In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2019), pages 34-41
ISBN: 978-989-758-380-3
Copyright
c 2019 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved
Balancing Control of a Self-driving Bicycle
robot-bicycle system and allow it to perform straight- center of the front wheel, and Or is the center of the
line steering and cornering. rear wheel. Assume that the rear wheel is driven with
In this research, balancing control of a real-size, speed v0 and the front wheel is steered with a direc-
self-driving bicycle is studied. The model adopted tional angle η. Driving and steering actions make the
here for controller design considers speed variations bicycle turn with respect to an instantaneous center of
and thus can be characterized as an LPV system as in rotation Oc . Under the no-slip condition, Oc is the in-
(Meijaard et al., 2007). However, in stead of solving a tersection of the two extension lines respectively from
infinite family of linear matrix inequalities (LMI’s) as the axles of the front and rear wheels. Let a = Or Og ,
in the reference, the model is converted into a special b = Or O f , r0 = Oc Or , r = Oc Og , and γ = ∠Or Oc Og ,
format so that only a small number of LMI needed so the following trigonometric relations hold:
to be solved to devise the controller for robust per- a
formance under speed variations. The paper is orga- r= , (1)
sin γ
nized as follows: A model that describes the speed-
dependent lateral dynamics of the bicycle is given in and
Section II. Section III shows how the dynamic model a b
r0 = = . (2)
can be converted into a tractable form so as to conduct tan γ tan η
robust balancing control design against speed varia- Notice that the yaw rate of the bicycle, which is de-
tions . The performance of the control system is ver- noted by φ̇, is equal to vr00 . From the second equality
ified numerically in Section IV. Section V describes
in (2), φ̇ can be written as
the hardware setup of the self-driving bicycle and per-
forms experimental validation on the control perfor- tan η
mance. Finally, conclusions are given in Section VI. φ̇ = v0 . (3)
b
Let v be the magnitude of the bicycle’s velocity at
the COG Og , and vx and vy be the components of the
2 MODELING OF THE LATERAL velocity along and perpendicular to the bicycle body.
DYNAMICS Since the bicycle body is rigid, we have vx = v0 , and
v and vy are related to v0 respectively by
Oc a tan η
v = rφ̇ = v0 , (4)
b sin γ
γ and
η a tan η
vy = v sin γ = v0 . (5)
b
r0 r
2.2 Dynamic Analysis
vy v η
v0
Or
Og vx Of
a
b
Figure 1: Top view of a bicycle.
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ICINCO 2019 - 16th International Conference on Informatics in Control, Automation and Robotics
a distance of l from the ground contact point with a and the state equation of the linearized lateral dynam-
roll angle θ. Notice that the inverted pendulum sys- ics of the bicycle is thus given as
tem in Fig. 2 may not be in an inertia frame when
ẋ = Ax + Bu, (12)
the bicycle is in motion. Therefore, in addition to the
gravitational force, one also has to consider the inertia 0 1 0 0
g a sin ε0 v0
dv 2 where A = 0 0 , B = .
force m dty and the centrifugal force m vr cos γ acting ` b`
0 0 − va0 − v̇v00 1
on COG when deriving the dynamic equation. Apply-
The major challenge in the feedback control design
ing Newton’s law and substituting the expressions of
is that the presence of v0 and v̇0 in the A and B ma-
v and vy in (4) and (5), the lateral dynamics is derived
trices makes the system dynamics time-varying when
as:
the bicycle experiences speed changes. To facilitate
v2 dvy
m`2 θ̈ = m` cos θ( cos γ + ) + mg` sin θ control design for the time-varying system, we as-
r dt sume that the bounds for v0 and v̇v00 are known, or
v2 av0 sec2 η
= m` cos θ( 0 tan η + η̇ (6) (v0 )min ≤ v0 ≤ (v0 )max and v̇v00 ≤ vv̇00 ≤ vv̇00
b b min max
a tan η where (v0 )min and (v0 )max are respectively
the lower
+ v̇0 ) + mg` sin θ
b bound and upper bound for v0 and v̇v00 , and
in which the second equality also utilizes the relation min
v̇0
tan γ = ab tan η inferred from (2). v0 are respectively the lower bound and upper
max
When both the the directional angle η and the roll bound for v̇v00 .
angle θ are small, the nonlinear dynamics in (6) can
Next we define two parameters α and β to repre-
be further linearized as
2 sent the normalized values for v0 and v̇v00 respectively
v av̇0 av0
m`2 θ̈ ≈ m` ( 0 + )η + η̇ + mg`θ (7) as
b b b v0 − (v0 )min
It should be noted that the directional change of the α = , (13)
(v0 )max − (v0 )min
front wheel is due to the vertical projection of the ro-
tation of the steering handlebar via the caster angle v̇0 /v̇0 − (v̇0 /v̇0 )min
β = (14)
of the front fork assembly (The reader can refer to (v̇0 /v̇0 )max − (v̇0 /v̇0 )min
(Tanaka and Murakami, 2004) for the graphical def- in which 0 ≤ α, β ≤ 1. When v0 and v̇v00 in (12) are
inition of the caster angle.). Denoting the steering
angle of the handlebar by δ and the caster angle by replaced by α and β respectively, it can be derived
ε0 , the directional angle η can be expressed as that
η = sin ε0 · δ. (8) ẋ = A0 x + B0 u + αAα x + αBα u + βAβ x (15)
Substituting the above expression into (7) yields 0 1 0
g
sin ε0 h 2 where A0 = ` 0 0
i
(v0 + av̇0 )δ + av0 δ˙ + mg`θ, (9) , B0 =
m`2 θ̈ = m` (v0 )min v̇0
b 0 0 − a − v0
or min
g a sin ε0 v0 ˙
v0 v̇0
0 0 0 0
θ̈ − θ = δ + ( + )δ (10) a sin ε0 v0 , Aα = 0 0 0 ,
` b` a v0 b` (v0 )max −(v0 )min
1 0 0 − a
2.3 A State-space Model for Control
0
Design Bα = a sin ε0
b` ((v0 )max − (v0 )min )
, and Aβ =
0
According to (10), the open-loop system is unstable 0 0 0
due to the inverted q
pendulum mode which contains 0 0 0 .
an unstable pole at g` . As a result, feedback con- 0 0 − ((v̇0 /v̇0 )max − (v̇0 /v̇0 )min )
trol is needed to modulate the steering angle to stabi-
lize/balance the bicycle. For control design purposes,
we first convert (10) into a state-space form by defin- 3 ROBUST BALANCING
T
CONTROL DESIGN
ing the state vector x as θ θ̇ δ and a new con-
trol input as
v0 v̇0 Given the transformed dynamic model in (15), the
u = δ˙ + ( + )δ, (11) control target is to devise a control law for u so as
a v0
36
Balancing Control of a Self-driving Bicycle
to robustly regulate the state x under the bounded and full-state feedback controllers with the same convex
time-varying parameters α and β. The control prob- coefficients as the plant model in (16):
lem is solved by firstly converting the model into a 4
so-called “polytopic form”(Zak, 2003) as u= ∑ ρ j K j x, (22)
j=1
4
ẋ = ∑ ρk (t) (Ak x+Bk u) (16) where K j ’s are feedback gain matrices. The associ-
k=1 ated closed-loop dynamics is given by
in which (15) is expressed as a linear combination of 4 4
four linear systems with system matrices A(.) and B(.) . ẋ = ∑ ∑ ρk ρ j (Ak + Bk K j ) x (23)
The derivation of the polytopic form and the defini- k=1 j=1
tions of A(.) , B(.) , and ρ(.) are depicted in the follow- The following theorem provides a synthesis
ing lemma. method for computing the stabilizing gain matrices
Lemma. The dynamic model in (15) can be trans- K j ’s.
formed into the polytopic form in (16) with Theorem. Given the polytopic system in (16) with the
control law in (22), for W = WT > 0 ∈ R4×4 and λ >
ρ1 (t) = (1 − α) (1 − β) (17) 0 ∈ R, if there exist Y1 , Y2 , Y3 , Y4 ∈ R2×4 satisfying
ρ2 (t) = α (1 − β) (18) the following linear matrix inequalities (LMI’s):
ρ3 (t) = (1 − α) β (19)
(Ak +A j ) W + W (Ak + A j )T + YTj BTk
ρ4 (t) = αβ, (20)
+Bk Y j ) + YTk BTj + B j Yk + 4λW ≤ 0 (24)
and
for all k ≤ j, k, j ∈ {1, 2, 3, 4}, then the closed-loop
A1 = A0 , B1 = B0 , system is globally exponentially stable by setting
A2 = A0 + Aα , B2 = B0 + Bα K j = Y j W−1 , j = 1 ∼ 4. (25)
A3 = A0 + Aβ , B3 = B0 Furthermore, kx (t)k2 is bounded by
A4 = A0 + Aα + Aβ , B4 = B0 + Bα . C kx (0)k2 e−λt for some finite constant C.
Proof. Because the definitions of ρ(.) in (17)-(20) Proof. For the Lyapunov function defined by V (x) =
1 T −1
lead to ρ2 + ρ4 = α, ρ3 + ρ4 = β, and ∑4k=1 ρk = 1, 2 x Px where P = W , its time derivative along the
(15) can be rewritten as closed-loop system trajectory (23) is
! 4 4
4
ẋ = ∑ ρk (A0 x + B0 u)
V̇ = ∑ ∑ ρk ρ j xT [P (Ak + Bk K j )
k=1 j=1
k=1
+ ATk + KTj BTk P x.
+ (ρ2 + ρ4 ) (Aα x + Bα u) (26)
+ (ρ3 + ρ4 ) Aβ x. (21) Substituting the gain matrices of (25) into V̇ yields
By regrouping the above equation in the form of (16), 4 4
one can prove that Ak ’s and Bk ’s should satisfy the V̇ (x) = ∑ ∑ ρk ρ j xT P [(Ak W + Bk Y j )
k=1 j=1
expressions in the lemma.
+ WATk + YTj BTk
Px (27)
Notice that the linear combination in (16) is con-
The terms in V̇ is further regrouped as
vex that in addition to ∑4k=1 ρk = 1, the time-varying
coefficients ρk (t)’s all fall between 0 and 1 due to 4
0 ≤ α, β ≤ 1. Models in this form are commonly re- V̇ = ∑ ρ2k xT P [(Ak W + Bk Yk )
ferred as Takagi-Sugeno-Kang (TSK) fuzzy models. k=1
4 4
In the fuzzy control research, TSK models have been
+ WATk + YTk BTk ∑ ρk ρ j xT ·
used extensively to design stabilizing controllers for Px + ∑
k=1 j>k
nonlinear systems. In this study, we adopt a simi- h
lar control structure as the fuzzy full-state feedback P (Ak +A j ) W + W (Ak + A j )T +
law(Zak, 2003) for the TSK models to stabilize the
YTj BTk + Bk Y j + YTk BTj + B j Yk Px
lateral dynamics of the bicycle under speed variations.
The controller is a convex combination of four linear, (28)
37
ICINCO 2019 - 16th International Conference on Informatics in Control, Automation and Robotics
By applying (24) with j = k to the terms associated maintain the lateral stability. The maximum steering
with ∑ α2k and with j > k to the terms associated with angle is kept within 15◦ . The second simulation is to
∑ ρk ρ j , and using the relations that 0 ≤ ρ(.) ≤ 1 and
PW = I, it can be derived that V̇ in (28) is upper
bounded by:
4 4 4
V̇ ≤ −2λ ∑ ρ2k xT Px − 4λ ∑ ∑ ρk ρ j xT Px
k=1 k=1 j>k
!2
4
≤ −2λ ∑ ρk xT Px = −2λxT Px (29)
k=1
4 SIMULATION STUDIES
Although the proposed balancing controller is de-
signed based on the linearized model, for numerical
verifications, it is applied to the nonlinear model in
(6) to simulate the control performance. The system
parameters used are listed in Table 1.
Table 1: Parameters of the bicycle model used in the simu- Figure 3: Simulated straight-line steering responses for the
lations. proposed controller.
a 0.3957 m m 23.1 kg
b 1.053 m ` 0.4338 m
ε0 20◦
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Balancing Control of a Self-driving Bicycle
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ICINCO 2019 - 16th International Conference on Informatics in Control, Automation and Robotics
Figure 6: Experimental straight-line steering responses un- Figure 8: Experimental cornering responses under the pro-
der LQR control. posed controller.
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Balancing Control of a Self-driving Bicycle
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