Conference Paper

Experimental results on LPV stabilization of a riderless bicycle

ABB Switzerland Ltd., Switzerland
DOI: 10.1109/ACC.2009.5160397 Conference: American Control Conference, 2009. ACC '09.
Source: IEEE Xplore

ABSTRACT In this paper the problem of designing a control system aiming at automatically balancing a riderless bicycle in the upright position is considered. Such a problem is formulated as the design of a linear-parameter-varying (LPV) state-feedback controller which guarantees stability of the bicycle when the velocity ranges in a given interval and its derivative is bounded. The designed control system has been implemented on a real riderless bicycle equipped with suitable sensors and actuators, exploiting the processing platform ABB PEC80. The obtained experimental results showed the effectiveness of the proposed approach.

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