Abstract
This study investigates the roll-angle tracking control of an unmanned bicycle using a sliding-mode controller (SMC). The roll angle is controlled at a specific speed via a simple proportional, derivative (PD) controller to generate input–output data including steering torque as well as roll and steering angles. The collected data are then used to identify a one-input two-output linear model by a prediction-error identification method using parameterisation in a canonical state-space form derived as a Whipple model. Once the linear model is obtained, the SMC can be designed to control the bicycle. Simulations and comparisons with a proportional, integral, derivative (PID) controller show that this SMC is robust against changes and variations in speed as well as external disturbances.
Acknowledgements
The authors would like to thank the National Science Council of Taiwan, Republic of China, for financially supporting this research under project number NSC 96-2221-E-212-027. Appreciation is also expressed to Dr Cheryl Rutledge, Associate Professor of English, Dayeh University, for her editorial assistance.