Vertical Balance of an Autonomous Two-Wheeled Single-Track Electric Vehicle

In the dynamic landscape of autonomous transport, the integration of intelligent transport systems and embedded control technology is pivotal. While strides have been made in the development of autonomous agents and multi-agent systems, the unique challenges posed by two-wheeled vehicles remain larg...

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Authors: Rodríguez-Rosa, David, Martín-Parra, Andrea, García-Vanegas, Andrés, Moya Fernández, Francisco, Payo-Gutiérrez, Ismael, Castillo-García, Fernando Javier
Format: article
Publication Date:2024
Country:España
Institution:Universidad de Castilla-La Mancha
Repository:RUIdeRA. Repositorio Institucional de la UCLM
OAI Identifier:oai:ruidera.uclm.es:10578/46640
Online Access:https://doi.org/10.3390/technologies12060076
https://hdl.handle.net/10578/46640
Access Level:Open access
Keyword:Adaptive control
Intelligent transport
Steering front-wheel angle
Two-wheeled single-track vehicle
Vertical balance
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spelling Vertical Balance of an Autonomous Two-Wheeled Single-Track Electric VehicleRodríguez-Rosa, DavidMartín-Parra, AndreaGarcía-Vanegas, AndrésMoya Fernández, FranciscoPayo-Gutiérrez, IsmaelCastillo-García, Fernando JavierAdaptive controlIntelligent transportSteering front-wheel angleTwo-wheeled single-track vehicleVertical balanceIn the dynamic landscape of autonomous transport, the integration of intelligent transport systems and embedded control technology is pivotal. While strides have been made in the development of autonomous agents and multi-agent systems, the unique challenges posed by two-wheeled vehicles remain largely unaddressed. Dedicated control strategies for these vehicles have yet to be developed. The vertical balance of an autonomous two-wheeled single-track vehicle is a challenge for engineering. This type of vehicle is unstable and its dynamic behaviour changes with the forward velocity. We designed a scheduled-gain proportional–integral controller that adapts its gains to the forward velocity, maintaining the vertical balance of the vehicle by means of the steering front-wheel angle. The control law was tested with a prototype designed by the authors under different scenarios, smooth and uneven floors, maintaining the vertical balance in all cases.MDPI202620262024info:eu-repo/semantics/articleapplication/pdfapplication/pdfhttps://doi.org/10.3390/technologies12060076https://hdl.handle.net/10578/46640reponame:RUIdeRA. Repositorio Institucional de la UCLMinstname:Universidad de Castilla-La ManchaInglésSBPLY/21/180501/0002382020-PREDUCLM-16080info:eu-repo/semantics/openAccessoai:ruidera.uclm.es:10578/466402026-05-27T07:36:41Z
dc.title.none.fl_str_mv Vertical Balance of an Autonomous Two-Wheeled Single-Track Electric Vehicle
title Vertical Balance of an Autonomous Two-Wheeled Single-Track Electric Vehicle
spellingShingle Vertical Balance of an Autonomous Two-Wheeled Single-Track Electric Vehicle
Rodríguez-Rosa, David
Adaptive control
Intelligent transport
Steering front-wheel angle
Two-wheeled single-track vehicle
Vertical balance
title_short Vertical Balance of an Autonomous Two-Wheeled Single-Track Electric Vehicle
title_full Vertical Balance of an Autonomous Two-Wheeled Single-Track Electric Vehicle
title_fullStr Vertical Balance of an Autonomous Two-Wheeled Single-Track Electric Vehicle
title_full_unstemmed Vertical Balance of an Autonomous Two-Wheeled Single-Track Electric Vehicle
title_sort Vertical Balance of an Autonomous Two-Wheeled Single-Track Electric Vehicle
dc.creator.none.fl_str_mv Rodríguez-Rosa, David
Martín-Parra, Andrea
García-Vanegas, Andrés
Moya Fernández, Francisco
Payo-Gutiérrez, Ismael
Castillo-García, Fernando Javier
author Rodríguez-Rosa, David
author_facet Rodríguez-Rosa, David
Martín-Parra, Andrea
García-Vanegas, Andrés
Moya Fernández, Francisco
Payo-Gutiérrez, Ismael
Castillo-García, Fernando Javier
author_role author
author2 Martín-Parra, Andrea
García-Vanegas, Andrés
Moya Fernández, Francisco
Payo-Gutiérrez, Ismael
Castillo-García, Fernando Javier
author2_role author
author
author
author
author
dc.subject.none.fl_str_mv Adaptive control
Intelligent transport
Steering front-wheel angle
Two-wheeled single-track vehicle
Vertical balance
topic Adaptive control
Intelligent transport
Steering front-wheel angle
Two-wheeled single-track vehicle
Vertical balance
description In the dynamic landscape of autonomous transport, the integration of intelligent transport systems and embedded control technology is pivotal. While strides have been made in the development of autonomous agents and multi-agent systems, the unique challenges posed by two-wheeled vehicles remain largely unaddressed. Dedicated control strategies for these vehicles have yet to be developed. The vertical balance of an autonomous two-wheeled single-track vehicle is a challenge for engineering. This type of vehicle is unstable and its dynamic behaviour changes with the forward velocity. We designed a scheduled-gain proportional–integral controller that adapts its gains to the forward velocity, maintaining the vertical balance of the vehicle by means of the steering front-wheel angle. The control law was tested with a prototype designed by the authors under different scenarios, smooth and uneven floors, maintaining the vertical balance in all cases.
publishDate 2024
dc.date.none.fl_str_mv 2024
2026
2026
dc.type.none.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://doi.org/10.3390/technologies12060076
https://hdl.handle.net/10578/46640
url https://doi.org/10.3390/technologies12060076
https://hdl.handle.net/10578/46640
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv SBPLY/21/180501/000238
2020-PREDUCLM-16080
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv MDPI
publisher.none.fl_str_mv MDPI
dc.source.none.fl_str_mv reponame:RUIdeRA. Repositorio Institucional de la UCLM
instname:Universidad de Castilla-La Mancha
instname_str Universidad de Castilla-La Mancha
reponame_str RUIdeRA. Repositorio Institucional de la UCLM
collection RUIdeRA. Repositorio Institucional de la UCLM
repository.name.fl_str_mv
repository.mail.fl_str_mv
_version_ 1869425342573182976
score 15,811543

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