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Robust Stabilization Control for an Electric Bicycle
Author(s) -
Kawamura Takuro,
Murakami Toshiyuki
Publication year - 2014
Publication title -
electrical engineering in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.136
H-Index - 28
eISSN - 1520-6416
pISSN - 0424-7760
DOI - 10.1002/eej.22462
Subject(s) - robustness (evolution) , control theory (sociology) , control engineering , popularity , engineering , computer science , control system , robust control , automotive engineering , control (management) , artificial intelligence , psychology , social psychology , biochemistry , chemistry , electrical engineering , gene
SUMMARY Recently, bicycles have gained immense popularity because they have high mobility and are an environmentally friendly means of transport. However, many people tend to avoid riding a bicycle because it is unstable. In order to solve this problem, stabilization control for a bicycle has been investigated. The aim of this study is to improve the robustness of stabilization control. To achieve this goal, control systems that use a camber angle disturbance observer (CADO) are proposed. Two kinds of CADO are proposed in this paper, and the performance of these two observers is compared. The proposed control systems provide higher robustness than does the conventional method. The validity of the proposed methods is confirmed based on the experimental results.