Piecewise affine control for unmanned bicycle using steering control and gyroscopic stabilization

Abstract

To presents the design of an unmanned bicycle that can stay upright while following the path autonomously in a computer simulation. The bicycle consists of two main systems; stabilization system and navigation system. We design each system separately and combine them together. For the stabilization system, we develop a novel technique which utilizes both the gyroscopic stabilization and the steering control. We design a state-feedback controller which guarantees the stability of a class of nonlinear systems over the desired operating region and ensures some practical performance criteria of the closed-loop system. We apply the piecewise affine technique together with the regional pole placement and linear quadratic regulator in order that all design formulations are cast as a linear matrix inequalities (LMI) optimization problem. The discrete-time controller is also obtained from the continuous-time controller via LMI approach. For the navigation system, we design a controller by applying a linear regression using least square error method. Then an integrated stabilization and navigation system of the bicycle has been designed. We propose the algorithm for recalculating the desired steering angle. The simulation results illustrate the effectiveness of the proposed design methods.