1989 Volume 55 Issue 513 Pages 1229-1234
This paper describes the methods and experiments on synchronous steering control of a parallel bicycle which has twin wheels on the outside of the parallel driving axes and an inverted-pendulum-type upper structure. The bicycle can be steered by controlling rotation of each wheel driven by each DC servo-motor. In order to drive the vehicle along an arbitrary path, both wheels must be steered and synchronously controlled. Both synchronous control methods are proposed. A gain changing method and a servo-reference method are each applied for the servo-control. The steering and driving control of the vehicle has been attained by using synchronous servo-control methods through here are available for steering and servo-control without losing stability of the vehicle.
Transactions of the Society of Mechanical Engineers
Transactions of the Japan Society of Mechanical Engineers
Transactions of the Japan Society of Mechanical Engineers Series A
Transactions of the Japan Society of Mechanical Engineers Series B
TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series B
TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series A
