Trajectory control of a motorbike robot via sliding mode control

DOI

Bibliographic Information

Other Title
  • スライディングモード制御によるオートバイ型ロボットの軌道制御

Abstract

<p>This paper presents a sliding mode controller for a robotic mini-motorcycle, in which the control inputs are steering torque and lean torque. While the nominal linear model is derived under the assumption that the forward speed is constant, perturbations is also included in the model for designing a controller by taking account of the changes in forward speed due to driving or breaking. It is shown that the proposed controller achieves robust performance in the presence of the perturbation.</p>

Journal

Keywords

Details 詳細情報について

  • CRID
    1390282680624949760
  • NII Article ID
    130005312472
  • DOI
    10.11511/jacc.59.0_1194
  • Text Lang
    ja
  • Data Source
    • JaLC
    • CiNii Articles
  • Abstract License Flag
    Disallowed

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