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Robust Washout Control for Supporting Bicycle Riding
Kotaro Shima,Shigeru Yamamoto,Takashi Takimoto 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In this paper, we consider a reduction problem of vibration in riding and rider’s burden by stabilizing the bicycle at slow speed. In riding a bicycle, the reference input which is generally required by feedback methods is implicitly determined by a rider. Hence, the preassigned reference input may be biased against the rider’s intention. To compensate the bias, we adopt robust washout control which can asymptotically reject the influence of the bias and is robust against the speed fluctuation of the bicycle. Furthermore, by introducing a scaling in designing robust washout control, we improve the resulting control performance.