A Comparative Assessment between LQR and PID Strategies in Control of Two Wheeled Vehicle

Article Preview

Abstract:

The Modelling and control design of Two Wheel Vehicle represents an open and a challenging problem in terms of the complexity in these kind of vehicles. This article aims to represent a comparative analysis of two strategies of control which are modern controller LQR and Conventional Controller PID for the two wheeled vehicle. The main goal is to compare their performances in terms of the time specification and to determine the best control strategy. We begin our development with the implementation of the dynamic model of the two wheeled vehicle using Lagrange modeling with holonomic constraints. Further, the article deals with analyzing the eigenvalues of the linearized dynamic system at which the two wheeled vehicle lean and steer are stable. This research targets the development of the two controllers: PID and LQR. Those controllers are used to control both steer angle, and lean rate angle of two wheeled vehicle. The study includes as well a comparative assessment of those control strategies in terms of performance.

You might also be interested in these eBooks

Info:

Pages:

59-70

Citation:

Online since:

June 2019

Export:

Price:

[1] Sharp, Robin S. On the stability and control of the bicycle. Applied mechanics reviews 61, no. 6 (2008): 060803.

Google Scholar

[2] Thanh, Bui Trung, and Manukid Parnichkun. Balancing control of bicyrobo by particle swarm optimization-based structure-specified mixed H2/H∞ control. International Journal of Advanced Robotic Systems 5, no. 4 (2008): 39.

DOI: 10.5772/6235

Google Scholar

[3] Chu, T. D., and C. K. Chen. Modelling and model predictive control for a bicycle-rider system. Vehicle system dynamics 56.1 (2018): 128-149.

DOI: 10.1080/00423114.2017.1346263

Google Scholar

[4] Mammar, Saıd, S. Espic, and Christophe Honvo. Motorcycle modelling and roll motion stabilization by rider leaning and steering torque. In Control Applications, 2005. CCA 2005. Proceedings of 2005 IEEE Conference on, pp.1421-1426. IEEE, (2005).

DOI: 10.1109/cca.2005.1507331

Google Scholar

[5] Brendan Connors. Modeling and stability analysis of a recumbent bicycle with oscillating leg masses. Master's thesis, University of California, Davis, (2009).

Google Scholar

[6] Meijaard, J. P. Derivation of the linearized equations for an uncontrolled bicycle. Internal report, University of Nottingham, UK, (2004).

Google Scholar

[7] Meijaard, J. P., and A. L. Schwab. Linearized equations for an extended bicycle model. In III European Conference on Computational Mechanics, pp.772-772. Springer, Dordrecht, (2006).

DOI: 10.1007/1-4020-5370-3_772

Google Scholar

[8] Schwab, Arend L., Jaap P. Meijaard, and Jim M. Papadopoulos. Benchmark results on the linearized equations of motion of an uncontrolled bicycle. Journal of mechanical science and technology 19, no. 1 (2005): 292-304.

DOI: 10.1007/bf02916147

Google Scholar

[9] Schwab, A. L., J. P. Meijaard, and J. D. G. Kooijman. Lateral dynamics of a bicycle with a passive rider model: stability and controllability. Vehicle system dynamics 50.8 (2012): 1209-1224.

DOI: 10.1080/00423114.2011.610898

Google Scholar

[10] Sharp, Robin S. Motorcycle steering control by road preview. Journal of dynamic systems, measurement, and control 129, no. 4 (2007): 373-381.

DOI: 10.1115/1.2745842

Google Scholar

[11] Yamakita, Masaki, Atsuo Utano, and Kazuma Sekiguchi. Experimental study of automatic control of bicycle with balancer. In Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on, pp.5606-5611. IEEE, (2006).

DOI: 10.1109/iros.2006.282281

Google Scholar

[12] Huyge, K., J. Ambrósio, and M. Pereira. A control strategy for the dynamics of a motorcycle, including rider. Proceedings of the ENOC-2005 (2005).

Google Scholar

[13] Sharp, Robin S. Optimal stabilization and path-following controls for a bicycle. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 221.4 (2007): 415-427.

DOI: 10.1243/0954406jmes529

Google Scholar

[14] Sharp, R. S., and V. Valtetsiotis. Optimal preview car steering control. Vehicle System Dynamics 35, no. SUPPL. 1 (2001): 101-117.

Google Scholar

[15] Nehaouas, L., Khettat, A., Arioui, H., Imine, H., & Espié, S. (2010). Rider steer torque estimation for motorcycle riding simulator. IFAC Proceedings Volumes, 43(18), 505-510.

DOI: 10.3182/20100913-3-us-2015.00112

Google Scholar

[16] Chen, Chih-Keng, and Thanh-Son Dao. Dynamics and path-tracking control of an unmanned bicycle. In ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, pp.2245-2254. American Society of Mechanical Engineers, (2005).

Google Scholar

[17] Chen, Chih-Keng, and Thanh-Son Dao. Fuzzy control for equilibrium and roll-angle tracking of an unmanned bicycle. Multibody system dynamics 15, no. 4 (2006): 321-346.

DOI: 10.1007/s11044-006-9013-7

Google Scholar

[18] Chen CK, Dao TS. Genetic fuzzy control for path-tracking of an autonomous robotic bicycle. J Syst Des Dyn.2007;1(3):536–547.

DOI: 10.1299/jsdd.1.536

Google Scholar

[19] Sharma, Himanshu Dutt, and N. Umashankar. A fuzzy controller design for an autonomous bicycle system. In Engineering of Intelligent Systems, 2006 IEEE International Conference on, pp.1-6. IEEE, (2006).

DOI: 10.1109/iceis.2006.1703218

Google Scholar

[20] Rigatos, G., Siano, P., Wira, P., et al. A nonlinear optimal control approach for autonomous motorcycles. In : 2018 Annual American Control Conference (ACC). IEEE, 2018. pp.2763-2768.

DOI: 10.23919/acc.2018.8431431

Google Scholar

[21] Yuan, Jing, Sun, Fengchi, Et Huang, Yalou. Optimal design of trajectory parameters and position tracking with balance for riderless bicycle. Optimal Control Applications and Methods, 2016, vol. 37, no 1, pp.72-89.

DOI: 10.1002/oca.2153

Google Scholar

[22] Hwang, Chih-Lyang, WU, Hsiu-Ming, Et Shih, Ching-Long. Fuzzy sliding-mode underactuated control for autonomous dynamic balance of an electrical bicycle. IEEE transactions on control systems technology, 2009, vol. 17, no 3, pp.658-670.

DOI: 10.1109/tcst.2008.2004349

Google Scholar

[23] Xiong, C., Huang, Z., Gu, W., et al. Static Balancing of Robotic Bicycle through Nonlinear Modeling and Control. In: 2018 3rd International Conference on Robotics and Automation Engineering (ICRAE). IEEE, 2018. pp.24-28.

DOI: 10.1109/icrae.2018.8586765

Google Scholar

[24] Gattringer, Hubert, Reiter, Alexander, Müller, Andreas, et al. Dynamical Modeling and LQR Control of a Gyroscopically Stabilized Bicycle. PAMM, 2018, vol. 18, no 1, p. e201800406.

DOI: 10.1002/pamm.201800406

Google Scholar

[25] Shafiei, M. H. Et Emami, M. Design of a robust path tracking controller for an unmanned bicycle with guaranteed stability of roll dynamics. Systems Science & Control Engineering, 2019, vol. 7, no 1, pp.12-19.

DOI: 10.1080/21642583.2018.1555062

Google Scholar