ROBUST CONTROL FOR COAXIAL TWO-WHEELED ELECTRIC VEHICLE

Authors

Jia-Sheng Hu, Department of Greenergy, National University of Tainan, Tainan, Taiwan,R.O.C. Institute of Industrial Science, University of Tokyo, Tokyo, JapanFollow
Mi-Ching Tsai, Department of Mechanical Engineering, National Cheng Kung University, Tainan, Taiwan, R.O.C
Feng-Rung Hu, Department of Mathematical Education, National Taichung University, Taichung, Taiwan, R.O.C.
Yoichi Hori, Institute of Industrial Science, University of Tokyo, Tokyo, Japan.

Abstract

This paper investigates robust motion pilot control of a coaxial two-wheeled electric vehicle (CTWEV) where the feedback control system is solely based on the angle of inclination without using any velocity information. H∞ control is employed to design a robust stabilizing controller. The proposed scheme involves an electronic differential steering algorithm to pilot the CTWEV via a joystick. Finally, evaluation examples and simulations are provided to demonstrate the effectiveness of the system

Recommended Citation

Hu, Jia-Sheng; Tsai, Mi-Ching; Hu, Feng-Rung; and Hori, Yoichi (2010) "ROBUST CONTROL FOR COAXIAL TWO-WHEELED ELECTRIC VEHICLE," Journal of Marine Science and Technology: Vol. 18: Iss. 2, Article 3.
DOI: 10.51400/2709-6998.2316
Available at: https://jmstt.ntou.edu.tw/journal/vol18/iss2/3