On Self-balance Control For A Single-track Vehicle

A single-track vehicle，which includes bicycle，motorcycle，is a kind of transporttools whose wheels are longitudinally lined. The single-track vehicle cannot beself-stabilized at zero speed because of its own special mechanical structure. If wewant the single-track vehicle to move steadily, we will have to impose a balancingcontrol. Moreover, the single-track vehicle is a traditional under-actuated systemwhich is multivariable, unstable and nonlinear. The single-track vehicle can be used toverify the effectiveness of control algorithms. Hence, the research of single-trackvehicle has practical significance.This thesis deals with the problem of the self-balance control of a single-trackvehicle. The main contents are described as follows.First, this thesis presents an overview of the single track vehicle, such as theresearch results and the main research methods of the single-track vehicle in the lastdecades. Moreover, We analyze the research achievements and several kinds ofcontrol methods of the single-track vehicle. In addition, we also simply present thetheoretical background of designing a finite-time controller.Second, this thesis introduces a single-track vehicle how to keep mechanicalstabilization and its important factors to its stabilization, such as the caster angle ofthe vehicle, the trail of the vehicle, the gyroscopic effect of the vehicle’s front fork,the friction between the front (rear) wheel and the ground. After that, this thesisdescribes two controllers which are widely used. According to aforementionedmodeling, this thesis establishes the dynamical model of the single-track vehicle.Third, this thesis designs a kind of sliding model controller for the single-trackvehicle. The controller can overcome uncertainties of the system and has strongrobustness. Especially, the sliding model controller has a good effect for nonlinearsystems. The simulation results show the effectiveness of the proposed sliding modelcontroller.Finally, this thesis designs a finite-time controller. This controller can solve themajor defect of the sliding model controller which is the high frequency chattering.And the controller is proved that the single-track vehicle can be stable in the limitedtime theoretically. The simulation results show the effectiveness of the proposedfinite-time controller.