Sliding-mode control for the roll-angle tracking of an unmanned bicycle

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.

Keywords:

• bicycle dynamics
• bicycle model
• system identification
• bicycle control
• roll-angle tracking

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.