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Stabilzing Control of an Autonomous Bicycle

Yetkin, Harun
http://rave.ohiolink.edu/etdc/view?acc_num=osu1373947913

Abstract Details

2013, Master of Science, Ohio State University, Electrical and Computer Engineering.
In this thesis, we utilize the precession e fect of the gyroscope to stabilize the bicycle both at zero forward velocity and varying velocities. Equations of motion of a bicycle with a wheel mounted on its bottom are derived and a first order sliding mode controller is designed to achieve the goal of stabilization. In order to verify the designed feedback controller, two experimental setups are built; an inverted pendulum setup and a bicycle setup. SMC design for the static bicycle model is tested on both the inverted pendulum and the bicycle setups. In order to judge the performance of the controller, a well-tuned PID controller is also tested on these setups. Then, in the light of the experimental results obtained on the inverted pendulum setup, a controller scheme for the stabilizing control of an autonomous bicycle is designed and tested on various road structures through simulation environment.
Umit Ozguner, Professor (Advisor)
Keith Redmill, Professor (Committee Member)
99 p.
Electrical Engineering; Engineering; Mechanical Engineering; Robotics; Robots
Gyroscopic stabilization; Unmanned bicycle stabilization; Autonomous bicycle

Recommended Citations

Citations

  • Yetkin, H. (2013). Stabilzing Control of an Autonomous Bicycle [Master's thesis, Ohio State University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=osu1373947913

    APA Style (7th edition)

  • Yetkin, Harun. Stabilzing Control of an Autonomous Bicycle. 2013. Ohio State University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=osu1373947913.

    MLA Style (8th edition)

  • Yetkin, Harun. "Stabilzing Control of an Autonomous Bicycle." Master's thesis, Ohio State University, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=osu1373947913

    Chicago Manual of Style (17th edition)

osu1373947913
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© 2013, all rights reserved.
This open access ETD is published by The Ohio State University and OhioLINK.