Polynomial Controller for Bicycle Robot based on Nonlinear Descriptor System

Yiyong Sun; Mingguo Zhao; Boyi Wang; Xudong Zheng; Bin Liang

doi:10.1109/IECON43393.2020.9254572

Polynomial Controller for Bicycle Robot based on Nonlinear Descriptor System

Yiyong Sun, Mingguo Zhao, Boyi Wang, Xudong Zheng, Bin Liang

Tsinghua University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

10 Citations (Scopus)

Abstract

Most researches on balance control of the bicycle robots are for the situation that the bicycle robot is with constant forward velocity and constant feedback gain, but are not appropriate to be employed for time varying forward velocity situation. In this paper, the nonlinear Euler-Lagrange model of the bicycle robot and the simplified nonlinear descriptor state space model are firstly deduced. A polynomial controller, rather than a constant gain feedback one, is proposed, which constituting the nonlinear closed-loop descriptor system. The sufficient condition on examining the stability of closed-loop system, together with one alternative method on designing a polynomial controller utilizing the SOSTool, are then proposed. By this work, the polynomial controller is broadened to be applied on nonlinear descriptor system, and on the balance and forward control of bicycle robot with time varying forward velocity. One numerical example shows the capacity of the control scheme proposed in this paper.

Original language	English
Title of host publication	Proceedings - IECON 2020
Subtitle of host publication	46th Annual Conference of the IEEE Industrial Electronics Society
Publisher	IEEE Computer Society
Pages	2792-2797
Number of pages	6
ISBN (Electronic)	9781728154145
DOIs	https://doi.org/10.1109/IECON43393.2020.9254572
Publication status	Published - 18 Oct 2020
Externally published	Yes
Event	46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020 - Virtual, Singapore, Singapore Duration: 19 Oct 2020 → 21 Oct 2020

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)
Volume	2020-October

Conference

Conference	46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020
Country/Territory	Singapore
City	Virtual, Singapore
Period	19/10/20 → 21/10/20

Keywords

SOSTool
bicycle robot
nonlinear descriptor system
polynomial control

Access to Document

10.1109/IECON43393.2020.9254572

Cite this

Sun, Y., Zhao, M., Wang, B., Zheng, X., & Liang, B. (2020). Polynomial Controller for Bicycle Robot based on Nonlinear Descriptor System. In Proceedings - IECON 2020: 46th Annual Conference of the IEEE Industrial Electronics Society (pp. 2792-2797). Article 9254572 (IECON Proceedings (Industrial Electronics Conference); Vol. 2020-October). IEEE Computer Society. https://doi.org/10.1109/IECON43393.2020.9254572

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title = "Polynomial Controller for Bicycle Robot based on Nonlinear Descriptor System",

abstract = "Most researches on balance control of the bicycle robots are for the situation that the bicycle robot is with constant forward velocity and constant feedback gain, but are not appropriate to be employed for time varying forward velocity situation. In this paper, the nonlinear Euler-Lagrange model of the bicycle robot and the simplified nonlinear descriptor state space model are firstly deduced. A polynomial controller, rather than a constant gain feedback one, is proposed, which constituting the nonlinear closed-loop descriptor system. The sufficient condition on examining the stability of closed-loop system, together with one alternative method on designing a polynomial controller utilizing the SOSTool, are then proposed. By this work, the polynomial controller is broadened to be applied on nonlinear descriptor system, and on the balance and forward control of bicycle robot with time varying forward velocity. One numerical example shows the capacity of the control scheme proposed in this paper.",

keywords = "SOSTool, bicycle robot, nonlinear descriptor system, polynomial control",

author = "Yiyong Sun and Mingguo Zhao and Boyi Wang and Xudong Zheng and Bin Liang",

note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020 ; Conference date: 19-10-2020 Through 21-10-2020",

year = "2020",

month = oct,

day = "18",

doi = "10.1109/IECON43393.2020.9254572",

language = "English",

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Sun, Y, Zhao, M, Wang, B, Zheng, X & Liang, B 2020, Polynomial Controller for Bicycle Robot based on Nonlinear Descriptor System. in Proceedings - IECON 2020: 46th Annual Conference of the IEEE Industrial Electronics Society., 9254572, IECON Proceedings (Industrial Electronics Conference), vol. 2020-October, IEEE Computer Society, pp. 2792-2797, 46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020, Virtual, Singapore, Singapore, 19/10/20. https://doi.org/10.1109/IECON43393.2020.9254572

Polynomial Controller for Bicycle Robot based on Nonlinear Descriptor System. / Sun, Yiyong; Zhao, Mingguo; Wang, Boyi et al.
Proceedings - IECON 2020: 46th Annual Conference of the IEEE Industrial Electronics Society. IEEE Computer Society, 2020. p. 2792-2797 9254572 (IECON Proceedings (Industrial Electronics Conference); Vol. 2020-October).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Liang, Bin

PY - 2020/10/18

Y1 - 2020/10/18

N2 - Most researches on balance control of the bicycle robots are for the situation that the bicycle robot is with constant forward velocity and constant feedback gain, but are not appropriate to be employed for time varying forward velocity situation. In this paper, the nonlinear Euler-Lagrange model of the bicycle robot and the simplified nonlinear descriptor state space model are firstly deduced. A polynomial controller, rather than a constant gain feedback one, is proposed, which constituting the nonlinear closed-loop descriptor system. The sufficient condition on examining the stability of closed-loop system, together with one alternative method on designing a polynomial controller utilizing the SOSTool, are then proposed. By this work, the polynomial controller is broadened to be applied on nonlinear descriptor system, and on the balance and forward control of bicycle robot with time varying forward velocity. One numerical example shows the capacity of the control scheme proposed in this paper.

AB - Most researches on balance control of the bicycle robots are for the situation that the bicycle robot is with constant forward velocity and constant feedback gain, but are not appropriate to be employed for time varying forward velocity situation. In this paper, the nonlinear Euler-Lagrange model of the bicycle robot and the simplified nonlinear descriptor state space model are firstly deduced. A polynomial controller, rather than a constant gain feedback one, is proposed, which constituting the nonlinear closed-loop descriptor system. The sufficient condition on examining the stability of closed-loop system, together with one alternative method on designing a polynomial controller utilizing the SOSTool, are then proposed. By this work, the polynomial controller is broadened to be applied on nonlinear descriptor system, and on the balance and forward control of bicycle robot with time varying forward velocity. One numerical example shows the capacity of the control scheme proposed in this paper.

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Polynomial Controller for Bicycle Robot based on Nonlinear Descriptor System

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