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Stability Analysis and Control of Autonomous Bicycle

In this work, an autonomous bicycle system with a passive rider was modeled and simulated using MATLAB-SIMULINK. The system's inherent stability characteristics were studied using a number of simulation experiments. The system was subject to a variety of constraint trajectories for lean and steer and their contributions to the stability of the autonomous bicycle system were analyzed. It was found that a sinusoidal steer motion has a greater tendency to stabilize the bicycle at lower speeds than at higher speeds. Moreover, a higher frequency steer oscillation performed better than a lower frequency one. It was shown that the steer motion varies sinusoidally as the lean varies sinusoidally and the bicycle system has an inherent tendency to stabilize itself. This work also found that there is a stable velocity region where the bicycle system self stabilizes. It was originally claimed in literature that there is only a lower bound to this stable velocity region but we showed that there exists an upper bound too. This work also developed several fuzzy-logic and adaptive neuro-fuzzy controllers for stabilizing the autonomous bicycle system by controlling only the bicycle lean. The fuzzy rules were designed such that they exploit the inherent stability characteristics of the system and also the lean and steer relationship. These intelligent controllers were shown to successfully stabilize the autonomous bicycle system outside its stability velocity region.

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Related Publications

Adaptive Neuro - Fuzzy Controller for Stabilizing Autonomous Bicycle
Umashankar N and Himanshu Dutt Sharma
IEEE International Conference on Robotics & Biomimetics (ROBIO), pp. 1652 - 1657, Dec. 2006
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A Robotic Model (ROBI) of Autonomous Bicycle System
Himanshu Dutt Sharma and Umashankar N
International Conference on Computational Inteligence for Modelling Control and Automation (CIMCA), November 2006
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Fuzzy Controller Design for an Autonomous Bicycle System
Himanshu Dutt Sharma and Umashankar N
IEEE International Conference on Engineering of Intelligent Systems (ICEIS), pp. 498 - 503, April 2006
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Stabilization of Autonomous Bicycle using Fuzzy Controller with Maximum Allowable Lean Constraint
Himanshu Dutt Sharma and Umashankar N
International Conference on Computational Intelligence, Robotics and Autonomous Systems (CIRAS), December 2005
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Simulation Model for Studying Inherent Stability Characteristics of Autonomous Bicycle
Himanshu Dutt Sharma, Sameer M Kale and Umashankar N
IEEE International Conference on Mechatronics and Automation (ICMA), pp. 193 - 198, July 2005
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